Optimization of manipulator workspace
Abstract
An approach for the optimum design of manipulators based on workspace is presented. An effective algorithm is developed which combines the heuristic optimization technique with a computer program called Kinematic Analysis of Manipulators (KAM) to provide a systematic procedure to optimize the manipulator structure based on a workspace. For a given manipulator structure, KAM first defines the workspace, then explores the existence of hole and void outlines in the boundary, and finally calculates the total volume of the workspace. Two problems are considered, the first concerned with the optimization of the RRRS manipulator, the second dealing with the optimization of some commercially available robots. A comparative study between the human arm proportions and the optimized RRRS structure is also presented.
- Publication:
-
In: Robotics research and advanced applications; Proceedings of the Winter Annual Meeting
- Pub Date:
- 1982
- Bibcode:
- 1982rraa.proc...27Y
- Keywords:
-
- Computer Aided Design;
- Computer Programs;
- Heuristic Methods;
- Manipulators;
- Robots;
- Algorithms;
- Arm (Anatomy);
- Design Analysis;
- Joints (Anatomy);
- Optimization;
- Engineering (General)