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The Research about Prescribed Workspace for Optimal Design of 6R Robot
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
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
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
- 1 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
- 2 College of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China
- 3 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
- 4 College of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China
- 5 College of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China
Modern Mechanical Engineering·Volume 04 (2014)·Pages 154–163·Published 15 August 2014·DOI10.4236/mme.2014.43015
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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.
Keywords6R RobotPrescribed WorkspaceOptimal Design
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