Abstract

LANNI, C.; SARAMAGO, S. F. P.  and  CECCARELLI, M.. Optimal design of 3R manipulators by using classical techniques and simulated annealin. J. Braz. Soc. Mech. Sci. [online]. 2002, vol.24, n.4, pp. 293-301. ISSN 0100-7386.  http://dx.doi.org/10.1590/S0100-73862002000400007.

In this paper, the optimum design of 3R manipulators is formulated and solved by using an algebraic formulation of workspace boundary. A manipulator design can be approached as a problem of optimization, in which the objective functions are the size of the manipulator and workspace volume; and the constrains can be given as a prescribed workspace volume. The numerical solution of the optimization problem is investigated by using two different numerical techniques, namely, sequential quadratic programming and simulated annealing. Numerical examples illustrate a design procedure and show the efficiency of the proposed algorithms.

Keywords : Robotics; computational kinematics; manipulator design; workspace; optimization.