TY - GEN
T1 - Optimum design of a 3R robot with a parallelogram five-bar mechanism for dexterous workspace by using metaheuristic algorithm
AU - De La Cruz-Muciño, Daniel
AU - Villarreal-Cervantes, Miguel G.
AU - Portilla-Flores, Edgar A.
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
KW - Dexterous manipulator
KW - Differential evolution
KW - Kinematic design
KW - Parallelogram manipulator
UR - http://www.scopus.com/inward/record.url?scp=84894204627&partnerID=8YFLogxK
U2 - 10.1109/ICMEAE.2013.10
DO - 10.1109/ICMEAE.2013.10
M3 - Contribución a la conferencia
AN - SCOPUS:84894204627
SN - 9781479922536
T3 - Proceedings - 2013 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2013
SP - 33
EP - 39
BT - Proceedings - 2013 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2013
T2 - 2013 IEEE International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2013
Y2 - 19 November 2013 through 22 November 2013
ER -