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Informations générales |
| Auteur |
Ceccarelli, Marco |
| Publié |
Bilbao, 1997
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| Edition |
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| Extension |
8 pages
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| ISBN |
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| Abstract |
In this paper a suitable formulation for the workspace has been used for the manipulators design which has been expressed as an optimisation problem by using the workspace volume and the manipulator overall dimensions as the objective function, and the wo
Manipulators design can be conveniently expressed as a function of workspace requirements, since a fundamental feature of manipulators is recognised in the workspace capability. In this paper a suitable formulation for the workspace has been used for the manipulators design which has been expressed as an
optimisation problem by using the workspace volume and the manipulator overall dimensions as the objective function, and the workspace limits as constraints. Additional constraints have been included to limit the manipulator size to practical values. The optimal design has been successfully tested by numerical examples which have also proved the efficiency of using the algebraic formulation for the workspace. |
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