Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass

ZHANG Xu-ping; YUYue-qing

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Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass

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- Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass
- Optics and Precision Engineering Vol. 13, Issue 5, Pages: 561-570(2005)
- 作者机构：
  
  Department of Machine Design, School of Mechanical Engineering, Beijing Polytechnic University Beijing,China,100022
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Received：10 March 2005，
  
  Revised：27 June 2005，
  
  Published Online：30 October 2005，
  
  Published：30 October 2005
- 稿件说明：
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ZHANG Xu-ping, YUYue-qing. Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass[J]. Optics and precision engineering, 2005, 13(5): 561-570.
DOI：

ZHANG Xu-ping, YUYue-qing. Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass[J]. Optics and precision engineering, 2005, 13(5): 561-570. DOI：

摘要

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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references

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