Abstract
In this paper an optimization method based on the Mechanics of Parallel Robots and orientated on workspace is conducted in the construction of 6-HTRT parallel robot. By analyzing the characteristics of specific workspace and setting up objective functions, optimizations are implemented on the design of parallel robot. As a result of the optimization design, the parallel robot not only figures the minimum overall size of robot structural, but also has workspace unrestricted by the limit range of Hooke joint's conical angles. The restriction factors on workspace of 6-HTRT parallel robot are reduced thus the algorithm for motion control of the robot is simplified and the performance of the parallel mechanism is improved.
| Original language | English |
|---|---|
| Pages | 1159-1164 |
| Number of pages | 6 |
| DOIs | |
| State | Published - 2003 |
| Event | 2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Chicago, IL, United States Duration: 2 Sep 2003 → 6 Sep 2003 |
Conference
| Conference | 2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
|---|---|
| Country/Territory | United States |
| City | Chicago, IL |
| Period | 2/09/03 → 6/09/03 |
Keywords
- Optimization design
- Parallel Robot
- Workspace
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