RESEARCH COMMONS
LIBRARY

Design Optimization And Synthesis Of Manipulators Based On Various Manipulation Indices

ResearchCommons/Manakin Repository

Design Optimization And Synthesis Of Manipulators Based On Various Manipulation Indices

Show full item record

Title: Design Optimization And Synthesis Of Manipulators Based On Various Manipulation Indices
Author: Bagchi, Sandipak
Abstract: Design optimization of serial manipulators involves striking a balance between an appropriate joint angle and exact link lengths. The optimization technique used in this thesis uses a unique algorithm that optimizes the joint angle through an Inverse Kinematics program. The synthesis problem involves setting up an accurate design length so as to reach a set of given target points inside the workspace without any singularity. The optimization process based on task specification focuses on the maximization of manipulability index, the objective function subjected to link length and joint angle constraints. The results obtained were plotted and animated to visualize the link movements in achieving the target locations.
URI: http://hdl.handle.net/10106/167
Date: 2007-08-23
External Link: https://www.uta.edu/ra/real/editprofile.php?onlyview=1&pid=275

Files in this item

Files Size Format View
umi-uta-1045.pdf 1.494Mb PDF View/Open
1.494Mb PDF View/Open

This item appears in the following Collection(s)

Show full item record

Browse

My Account

Statistics

About Us