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
- Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass
- 光学精密工程 2005年13卷第5期页码：561-570
- 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：
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- 收稿日期：2005-03-10，
  
  修回日期：2005-06-27，
  
  网络出版日期：2005-10-30，
  
  纸质出版日期：2005-10-30
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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]. 光学精密工程, 2005,13(5):561-570.

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.
ZHANG Xu-ping, YUYue-qing. Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass[J]. 光学精密工程, 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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