Optimal design of 3R manipulators by using classical techniques and simulated annealin
AUTOR(ES)
Lanni, C., Saramago, S. F. P., Ceccarelli, M.
FONTE
Journal of the Brazilian Society of Mechanical Sciences
DATA DE PUBLICAÇÃO
2002-11
RESUMO
In this paper, the optimum design of 3R manipulators is formulated and solved by using an algebraic formulation of workspace boundary. A manipulator design can be approached as a problem of optimization, in which the objective functions are the size of the manipulator and workspace volume; and the constrains can be given as a prescribed workspace volume. The numerical solution of the optimization problem is investigated by using two different numerical techniques, namely, sequential quadratic programming and simulated annealing. Numerical examples illustrate a design procedure and show the efficiency of the proposed algorithms.
Documentos Relacionados
- Optimum design of 3R robots manipulators considering its topology of the workspace
- Electrochemical degradation of textile dye Remazol Orange 3R using different electrodes
- Production of a mutagen from ponceau 3R by a human intestinal anaerobe.
- Deficiency Analysis of the Tip of Chromosome 3R in DROSOPHILA MELANOGASTER
- Optimal sequence selection in proteins of known structure by simulated evolution.