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Bulletin of the Polish Academy of Sciences. Technical Sciences

Tytuł artykułu

Multi criteria optimum design of manipulators

Autorzy Ceccarelli, M.  Carbone, G.  Ottaviano, E. 
Treść / Zawartość
Warianty tytułu
Języki publikacji EN
EN A suitable use of software packages for optimization problems can give the possibility to formulate design problems of robotic mechanical systems by taking into account the several aspects and behaviours for optimum solutions both in design and operation. However, an important issue that can be even critical to obtain practical solutions can be recognized in a proper identification and formulation of criteria for optimability purposes and numerical convergence feasibility. In this paper, we have reported experiences that have been developed at LARM in Cassino by referring to the abovementioned issues of determining a design procedure for manipulators both of serial and parallel architectures. The optimality criteria are focused on the well-recognized main aspects of workspace, singularity, and stiffness. Computational aspects are discussed to ensure numerical convergence to solutions that can be also of practical applications. In particular, optimality . criteria and computational aspects have been elaborated by taking into account the peculiarity and constraint of each other. The general concepts and formulations are illustrated by referring to specific numerical examples with satisfactory results.
Słowa kluczowe
EN robotics   manipulators   performance criteria   optimum design  
Wydawca Polska Akademia Nauk, Wydział IV Nauk Technicznych
Czasopismo Bulletin of the Polish Academy of Sciences. Technical Sciences
Rocznik 2005
Tom Vol. 53, nr 1
Strony 9--18
Opis fizyczny Bibliogr. 31 poz., 11 rys., 4 tab.
autor Ceccarelli, M.
autor Carbone, G.
autor Ottaviano, E.
  • LARM: Laboratory of Robotics and Mechatronics DiMSAT - University of Cassino Via G. Di Biasio 43,03043 Cassino (Fr), Italy.,
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