Abstract
In this paper a mono-objective optimum design procedure for a six-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using Genetic Algorithms.
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Stan, SD., Maties, V., Balan, R., Lapusan, C. (2008). Optimization of a Hexapod Micro Parallel Robot Using Genetic Algorithms. In: Elleithy, K. (eds) Innovations and Advanced Techniques in Systems, Computing Sciences and Software Engineering. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8735-6_8
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DOI: https://doi.org/10.1007/978-1-4020-8735-6_8
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