| Autor: |
Sasanka Sekhar Sinha, Sudipto Mukherjee, Anil K. Patidar |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
Lecture Notes in Mechanical Engineering ISBN: 9789811544767 |
| DOI: |
10.1007/978-981-15-4477-4_44 |
| Popis: |
This paper deals in design synthesis of a three translational degree-of-freedom Delta manipulator by combining together two different approaches (average condition number and power of point). By doing so, shortcomings of both approaches are eliminated. To solve this, multi-objective problem is solved with GA-based multi-objective optimization which works on the principle of Pareto optimality. Different constraints used in optimization are also discussed. A numerical example is presented to observe the effect of different constraints and objective function on the design variables which in turn dictate the manipulator workspace. Further, we try to conclude with a general procedure to design a Delta manipulator without using optimization routines. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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