Proceedings - 2013 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2013

Research output: Contribution to conferencePaperResearch

Abstract

The kinematic design of a machine or mechanism is an important stage in the design methodology. A dexterous workspace for a robot manipulator is a outstanding characteristic that must be considered in the kinematic design, because it permit to reach the points of the workspace with different orientation. With this objective in mind, an optimization problem is formulated. A defined dexterous workspace is taken as an objective function. The design variables are lengths of the links and the angles of the links. The no collision between links are included as constraints. This paper describes the use of metaheuristic optimization techniques such as differential evolution (DE) to solve the above problem. A mechanism is incorporated in the DE algorithm in order to improve its behavior. This mechanism incorporates information of the base and the difference vectors of good trial vector, in an attempt to generate better individuals in the same direction. This mechanism guides the evolution of the population toward a better zone without sacrificing the search capabilities of the DE algorithm. The design of a robot with three revolute joints (3R robot) is considered as a numerical example. © 2013 IEEE.
Original languageAmerican English
Pages33-39
Number of pages7
DOIs
StatePublished - 1 Dec 2013
Eventconference -
Duration: 1 Dec 2013 → …

Conference

Conferenceconference
Period1/12/13 → …

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Automotive engineering
Electronics engineering
Mechatronics
Robots
Kinematics
Manipulators

Cite this

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title = "Proceedings - 2013 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2013",
abstract = "The kinematic design of a machine or mechanism is an important stage in the design methodology. A dexterous workspace for a robot manipulator is a outstanding characteristic that must be considered in the kinematic design, because it permit to reach the points of the workspace with different orientation. With this objective in mind, an optimization problem is formulated. A defined dexterous workspace is taken as an objective function. The design variables are lengths of the links and the angles of the links. The no collision between links are included as constraints. This paper describes the use of metaheuristic optimization techniques such as differential evolution (DE) to solve the above problem. A mechanism is incorporated in the DE algorithm in order to improve its behavior. This mechanism incorporates information of the base and the difference vectors of good trial vector, in an attempt to generate better individuals in the same direction. This mechanism guides the evolution of the population toward a better zone without sacrificing the search capabilities of the DE algorithm. The design of a robot with three revolute joints (3R robot) is considered as a numerical example. {\circledC} 2013 IEEE.",
author = "{De La Cruz-Muci{\~n}o}, Daniel and Villarreal-Cervantes, {Miguel G.} and Portilla-Flores, {Edgar A.}",
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doi = "10.1109/ICMEAE.2013.10",
language = "American English",
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Proceedings - 2013 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2013. / De La Cruz-Muciño, Daniel; Villarreal-Cervantes, Miguel G.; Portilla-Flores, Edgar A.

2013. 33-39 Paper presented at conference, .

Research output: Contribution to conferencePaperResearch

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