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Design Optimization And Synthesis Of Manipulators Based On Various Manipulation Indices

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Design Optimization And Synthesis Of Manipulators Based On Various Manipulation Indices

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dc.contributor.author Bagchi, Sandipak en_US
dc.date.accessioned 2007-08-23T01:56:12Z
dc.date.available 2007-08-23T01:56:12Z
dc.date.issued 2007-08-23T01:56:12Z
dc.date.submitted August 2005 en_US
dc.identifier.other DISS-1045 en_US
dc.identifier.uri http://hdl.handle.net/10106/167
dc.description.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. en_US
dc.description.sponsorship Wang, Bo Ping en_US
dc.language.iso EN en_US
dc.publisher Mechanical Engineering en_US
dc.title Design Optimization And Synthesis Of Manipulators Based On Various Manipulation Indices en_US
dc.type M.S.M.E. en_US
dc.contributor.committeeChair Wang, Bo Ping en_US
dc.degree.department Mechanical Engineering en_US
dc.degree.discipline Mechanical Engineering en_US
dc.degree.grantor University of Texas at Arlington en_US
dc.degree.level masters en_US
dc.degree.name M.S.M.E. en_US
dc.identifier.externalLink https://www.uta.edu/ra/real/editprofile.php?onlyview=1&pid=275
dc.identifier.externalLinkDescription Link to Research Profiles

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