The Research about Prescribed Workspace for Optimal Design of 6R Robot - Modern Mechanical Engineering

MME > Vol.4 No.3, August 2014

The Research about Prescribed Workspace for Optimal Design of 6R Robot ()

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Download as PDF (Size: 3091KB) PP. 154-163

DOI: 10.4236/mme.2014.43015 4,706 Downloads 6,091 Views Citations

Author(s)

Yi Gan, Weiwei Yu, Weiming He, Junlei Wang, Fujia Sun

Affiliation(s)

College of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China.
College of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China; Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Tokyo, Japan.

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.

KEYWORDS

6R Robot, Prescribed Workspace, Optimal Design

Share and Cite:

Gan, Y. , Yu, W. , He, W. , Wang, J. and Sun, F. (2014) The Research about Prescribed Workspace for Optimal Design of 6R Robot. Modern Mechanical Engineering, 4, 154-163. doi: 10.4236/mme.2014.43015.

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