Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass |
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Authors: | ZHANG Xu-ping YU Yue-qing |
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Affiliation: | Department of Machine Design, School of Mechanical Engineering,Beijing Polytechnic University, Beijing 100022,China |
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Abstract: | Optimization of structural parameters aimed at improving the load carrying capacity of spatial flexible redundant manipulators is presented in this paper. In order to increase the ratio of load to mass of robots, the cross-sectional parameters and constructional parameters are optimized respectively. The cross-sectional and configurational parameters are optimized simultaneously. The numerical simulation of a 4R spatial manipulator is performed. The results show that the load capacity of robots has been greatly improved through the optimization strategies proposed in this paper. |
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Keywords: | flexible manipulator structural parameter ratio of load to mass optimal design |
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