光学精密工程2005，Vol.13Issue(5)：561-569,9.
Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass
Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass
摘要
Abstract
Optimization of structural parameters aimed at improving the load carrying capacity of spatial flexible redundant manipulators is presented in this paper. In order to increase the ratio of load to mass of robots, the cross-sectional parameters and constructional parameters are optimized respectively. The cross-sectional and configurational parameters are optimized simultaneously. The numerical simulation of a 4R spatial manipulator is performed. The results show that the load capacity of robots has been greatly improved through the optimization strategies proposed in this paper.关键词
flexible manipulator/structural parameter/ratio of load to mass/optimal designKey words
flexible manipulator/structural parameter/ratio of load to mass/optimal design分类
数理科学引用本文复制引用
ZHANG Xu-ping,YU Yue-qing..Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass[J].光学精密工程,2005,13(5):561-569,9.基金项目
This work is supported by Beijing Education Commission,Beijing Science and Technology Committee. （）
