Parameters Optimization Design for the 4-PTT Parallel Robot Mechanism Based on Workspace and Dexterity

摘要：

In this paper, the inverse position, workspace and dexterity of the 4-PTT parallel mechanism were analyzed. Based on Genetic Algorithm, the structural parameters were optimized with the main objective function method, while workspace and dexterity were taken as the optimized goal. The optimization data and atlases were obtained with MATLAB. By contrasting the results, we can see that performance of the mechanism is good after optimization. The study provides foundation for future application.

关键词： parallel mechanism workspace dexterity GAOT

作者: Haizhen CHEN Zhongyue ZOU Hongpeng SONG

作者单位: School of Mechanical Engineering Shandong University of Technology Zibo, Shandong Province, 255091, China

会议类型: 国际会议

会议名称: 2009 Second International Conference on Intelligent Computation Technology and Automation(2009 第二届IEEE智能计算与自动化国际会议 ICICTA 2009)

会议地点: 长沙

会议语种:英文

页码: 2179-2182

在线出版日期: 2009-10-10（万方平台首次上网日期，不代表论文的发表时间）