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Stochastic optimization method for optimized workspace of a six degree of freedom micro parallel robot

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3 Author(s)
Sergiu-Dan Stan ; Department of Mechatronics, Technical University of Cluj-Napoca, C. Daicoviciu no. 15, Romania ; Vistrian Maties ; Radu Balan

In this paper a mono-objective optimum design procedure for a six-degree of freedom parallel micro 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 micro parallel robot. Optimization was performed using genetic algorithms.

Published in:

2008 2nd IEEE International Conference on Digital Ecosystems and Technologies

Date of Conference:

26-29 Feb. 2008