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Optimization of workspace of a 2 DOF parallel minirobot using Genetic Algorithms and Simulated Annealing optimization methods

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3 Author(s)
Sergiu-Dan Stan ; Technical University of Cluj-Napoca, Dept. of Mechanics and Programming, 103-105, B-dul Muncii, 400641, Romania ; Vistrian Maties ; Radu Balan

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 optimization methods.

Published in:

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts

Date of Conference:

9-11 Dec. 2007