TITLE:
The Research about Prescribed Workspace for Optimal Design of 6R Robot
AUTHORS:
Yi Gan, Weiwei Yu, Weiming He, Junlei Wang, Fujia Sun
KEYWORDS:
6R Robot, Prescribed Workspace, Optimal Design
JOURNAL NAME:
Modern Mechanical Engineering,
Vol.4 No.3,
August
28,
2014
ABSTRACT:
Based on the D-H notation,
kinematics model and inverse kinematics model of 6R industrial robots are
established. Using graphical method, the boundary curve equations of the 6R
industrial robot workspace are obtained. Based on the prescribed workspace, the D-H parameter optimization method of 6R industrial robots is
proposed. Using the genetic algorithm to determine the structural dimensions of
a 6R robot, we make sure that its workspace can exactly contain the prescribed
workspace. This method can be used to reduce the overall size of the robot,
save materials and reduce the power consumption of the robot during its work
time.