An optimal design of 3R manipulators taking into account regular workspace boundary

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dc.creatorBergamaschi, Paulo Roberto
dc.creatorSaramago, Sezimária de Fátima Pereira
dc.creatorNogueira, Antônio Carlos
dc.date.accessioned2017-09-12T18:50:43Z
dc.date.available2017-09-12T18:50:43Z
dc.date.issued2004
dc.description.resumoThe workspace of a manipulator robot is considered of great interest from theoretical and practical viewpoint, being a basic tool for kinematic evaluation and dimensional design. The accurate calculation of workspace and its boundary is of great importance because of its influence on the manipulator design, the manipulator position in the work environment and its dexterity. The presence of voids and singularities adds great difficulty in the algebraic formulation of a correct mathematical model for the calculus of the workspace volume. In this paper an optimization problem is formulated with the objective of determining the optimal geometric parameters of the manipulator, considering the case where the envelope of the workspace is regular. Since a fundamental feature of a manipulator is recognized as a workspace capability, the manipulator design can be expressed as a function of this workspace. The objective of the optimization problem is the maximization of the workspace volume. The main constraint is the regular form. Additional constraints are included to obtain manipulator dimensions within practical values, and to specify limits at the workspace. In the optimization procedure, the optimal design is achieved by means of sequential minimization techniques. A numerical example is presented to validate the proposal methodology.pt_BR
dc.identifier.citationBERGAMASCHI, Paulo Roberto; SARAMAGO, Sezimária de F. P.; NOGUEIRA, Antônio Carlos. An optimal design of 3R manipulators taking into account regular workspace boundary. ABCM Symposium Series in Mechatronics, São Paulo, v. 1, p. 86-94, 2004.pt_BR
dc.identifier.urihttp://repositorio.bc.ufg.br/handle/ri/12431
dc.language.isoengpt_BR
dc.publisher.countryBrasilpt_BR
dc.publisher.departmentInstituto de Matemática e Estatística - IME (RG)pt_BR
dc.rightsAcesso Abertopt_BR
dc.subjectRoboticspt_BR
dc.subjectManipulator designpt_BR
dc.subjectWorkspacept_BR
dc.subjectOptimizationpt_BR
dc.subjectSingularitiespt_BR
dc.titleAn optimal design of 3R manipulators taking into account regular workspace boundarypt_BR
dc.typeArtigopt_BR

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