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

作     者：Yi Gan Weiwei Yu Weiming He Junlei Wang Fujia Sun 

作者机构：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 

出 版 物：《Modern Mechanical Engineering》 (现代机械工程（英文）)

年 卷 期：2014年第4卷第3期

页      码：154-163页

摘      要：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.

主 题 词：6R Robot Prescribed Workspace Optimal Design 

学科分类：07[理学] 0701[理学-数学类] 070101[070101] 

D　O　I：10.4236/mme.2014.43015

馆 藏 号：203458227...