Parameters Optimization Design for the 4-PTT Parallel Robot Mechanism Based on Workspace and Dexterity

Parameters Optimization Design for the 4-PTT Parallel Robot Mechanism Based on Workspace and Dexterity

In this paper, the inverse position, workspace and dexterity of the 4-PTT parallel mechanism were analyzed. Based on genetic algorithm, the structural parameters were optimized with the main objective function method, while workspace and dexterity were taken as the optimized goal. The optimization d...

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Bibliographische Detailangaben
Hauptverfasser: Haizhen Chen, Zhongyue Zou, Hongpeng Song
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Concurrent computing
Design automation
Design optimization
dexterity
Foot
GAOT
Intelligent robots
MATLAB
Optimization methods
parallel mechanism
Parallel robots
Robotics and automation
Structural engineering
workspace
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Beschreibung
Zusammenfassung:In this paper, the inverse position, workspace and dexterity of the 4-PTT parallel mechanism were analyzed. Based on genetic algorithm, the structural parameters were optimized with the main objective function method, while workspace and dexterity were taken as the optimized goal. The optimization data and atlases were obtained with Matlab. By contrasting the results, we can see that performance of the mechanism is good after optimization. The study provides foundation for future application.
DOI:10.1109/ICICTA.2009.528