![]() On obtien la surface extérieure de l'espace de travail de l'enveloppe d'une familie de tores lesquels sont tracés de circonférences paralléles sur la surface extérieure d'un hyper-anneau révolutionnent. La géométrie de la génération pour la révolution d'une figure autour d'un axe a été utilisé pour déduire un algorithme récurrente pour la surface extérieure de l'anneau et des hyper-anneaus à l'aide du concept de enveloppe geometrique. On presenté une formulation algébrique pour décrire l'espace de travail des manipulateurs générals avec une cinématique chaìne ouverte de N-R joints de rotation. Some illustrative examples up to a 6R manipulator have been used to test the numerical procedure and they also provide remarks and show some peculiarities of the hyper-ring topology. The formulation is a function of the dimensional parameters in the manipulator chain and specifically of the last revolute joint angle, only. The workspace boundary is obtained from the envelope of a torus family which is traced by the parallel circles cut in the boundary of a revolving hyper-ring. The geometry of the generation process by revolving a figure about an axis has been used to deduce a recursive algorithm for the boundary of ring and hyper-rings by using the envelope concept. The results of this study, which are illustrated by three-dimensional surface plots, are discussed and analysed in this paper.Īn algebraic formulation is proposed to describe the workspace boundary of general N-R revolute open chain manipulators. This paper presents cases related to the effect of changing the twist angles on the dynamic performance of an articulated robot (PUMA 560). Also, since the inertia matrix is a function of the joint displacement, the performance was examined for a particular parameter over a range of joint angles. ![]() Since the dynamic behaviour of a robot's arm is largely dependent on its inertia terms, the performance indicator was based on the logarithmic function of the sensitivity of the inertia matrix's eigenvalues to changes in a robot's geometrical parameters. In this study an indicator was established to quantitatively measure the dynamic performance of a robot arm with respect to changes in the geometrical parameters under different balancing conditions. ![]() This research was undertaken in pursuit of an optimal dynamic performance of industrial robots. This paper presents a study which was conducted on the effect of a robot's geometrical parameters on its dynamic performance under different balancing conditions. An important implication of this paper is that the present algorithm is found to be superior to other methods in terms of computational efficiency. In addition, this work extends the application of the proposed algorithm to two different industrial robots. The test results are compared with standard results available using other optimization algorithms such as Differential Evolution, Genetic Algorithm and Particle Swarm Optimization. Further, the method is also very useful in optimization problems in a highly constrained environment such as the robot workspace optimization. The proposed optimization method is subjected to some modifications for faster convergence than the original algorithm. In this work, an evolutionary optimization algorithm based on foraging behavior of Escherichia coli bacteria present in human intestine is utilized to optimize the workspace volume of a 3R manipulator. The capability of a robot largely depends on the workspace of the manipulator apart from other parameters. Robotic manipulators with three revolute families of positional configurations are very common in the industrial robots.
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