Design and optimization of 3R manipulators using the workspace features
作者:
Highlights:
•
摘要
The objective of this work is to contribute with a study of the workspace boundary of manipulators with three-revolute joints (3R). An optimization problem is formulated in which the workspace volume is the objective function. Penalties are imposed to minimize the voids and control the total area, forcing it to occupy a pre-established area. Numerical examples are given and the optimization problem is investigated using sequential techniques.
论文关键词:Robot manipulator,Workspace,Optimization,Singularities,Envelope
论文评审过程:Available online 14 April 2005.
论文官网地址:https://doi.org/10.1016/j.amc.2005.02.024