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Optimization of the workspace of PKM with 2 DOF

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3 Author(s)
Stan, S. ; Dept. of Mechanics & Programming, Cluj-Napoca Tech. Univ. ; Balan, R. ; Maties, V.

In this paper a mono-objective optimum design procedure for parallel robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using genetic algorithms and simulated annealing

Published in:

Automation Science and Engineering, 2006. CASE '06. IEEE International Conference on

Date of Conference:

8-10 Oct. 2006