Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links

نویسندگان

چکیده

There are several ubiquitous kinematic structures that used in industrial robots, with the most prominent being a six-axis angular structure. However, researchers experimenting task-based mechanism synthesis could provide higher efficiency custom optimized manipulators. Many studies have focused on finding efficient optimization algorithm for robot These manipulators, however, usually from simple modular joints and links, without exploring more elaborate modules. Here, we show link modules defined by small numbers of parameters better performance than complicated ones. We compare four different manipulator types, namely basic predefined links fixed dimensions, straight can be lengths, rounded curvature Hermite spline. Manipulators then built these using genetic three tasks. The results demonstrate manipulators not only converge faster, which is expected given fewer parameters, but also lower cost values.

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

a comparison of linguistic and pragmatic knowledge: a case of iranian learners of english

در این تحقیق دانش زبانشناسی و کاربردشناسی زبان آموزان ایرانی در سطح بالای متوسط مقایسه شد. 50 دانش آموز با سابقه آموزشی مشابه از شش آموزشگاه زبان مختلف در دو آزمون دانش زبانشناسی و آزمون دانش گفتار شناسی زبان انگلیسی شرکت کردند که سوالات هر دو تست توسط محقق تهیه شده بود. همچنین در این تحقیق کارایی کتابهای آموزشی زبان در فراهم آوردن درون داد کافی برای زبان آموزان ایرانی به عنوان هدف جانبی تحقیق ...

15 صفحه اول

a comparison of teachers and supervisors, with respect to teacher efficacy and reflection

supervisors play an undeniable role in training teachers, before starting their professional experience by preparing them, at the initial years of their teaching by checking their work within the proper framework, and later on during their teaching by assessing their progress. but surprisingly, exploring their attributes, professional demands, and qualifications has remained a neglected theme i...

15 صفحه اول

assessment of deep word knowledge in elementary and advanced iranian efl learners: a comparison of selective and productive wat tasks

testing plays a vital role in any language teaching program. it allows teachers and stakeholders, including program administrators, parents, admissions officers and prospective employers to be assured that the learners are progressing according to an accepted standard (douglas, 2010). the problems currently facing language testers have both practical and theoretical implications but the first i...

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Applied sciences

سال: 2021

ISSN: ['2076-3417']

DOI: https://doi.org/10.3390/app11062471