Design and optimization of 3R manipulators using the workspace features

A Comparative Study Using Shuffled Complex Evolution and Differential Evolution Applied to Robotic Manipulator Design

“…Thus, it is natural to imagine that the workspace is the result of rotation around the z axis of a radial plane section. The workspace of a three-revolute open chain manipulator can be given in the form of the radial reach r and axial reach z with respect to the base frame, according to Bergamaschi et al [3]. For this representation, r is the radial distance of a generic workspace point from the z-axis, and z is the distance of this same point at the XY-plane (see, Fig.…”

“…According to Bergamaschi et al [3], the workspace W is the set of all attainable points for a point P of the end-effector when the joint variables sweep its definition interval entire. Point P is usually chosen as the center of the end-effector, or the tip of a finger, or even the end of the manipulator itself.…”

“…Ceccarelli and Lanni [8] presented a suitable formulation for the workspace that can be used in the design of manipulators, which was formulated as a multi-objective optimization problem using the workspace volume and robot dimensions as objective functions. Bergamaschi et al [3,4] studied the design of manipulators with three-revolute joints (3R) using an optimization problem that takes into account the characteristics of the workspace. The optimization problem is formulated considering the workspace volume as the objective function.…”

“…In robotic manipulators, a fundamental characteristic that must be taken into account in the dimensional design is the volume of their workspace. It is crucial to calculate the workspace and its boundaries with perfect precision, because they influence the dimensional design, the manipulator's positioning in the work environment, and its dexterity to execute tasks [2,3,4].…”

Global Stiffness Optimization of Parallel Robots Using Kinetostatic Performance Indices

“…The mean value represents the average stiffness of the PKMs over the workspace, while the standard deviation indicates the stiffness fluctuation relative to the mean value. Many scholars have studied on optimum design of robot manipulators (Bergamaschi et al, 2006;Stock & Miller, 2003;Rout & Mittal, 2008;Ceccarelli & Lanni, 2004). Lum et al (Mitchell et al, 2006) presented kinematic optimization to confirm the smallest configuration that would satisfy the workspace requirements for a lightweight and compact surgical manipulator.…”