Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10247456" target="_blank" >RIV/61989100:27230/21:10247456 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/2076-3417/11/6/2471" target="_blank" >https://www.mdpi.com/2076-3417/11/6/2471</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app11062471" target="_blank" >10.3390/app11062471</a>

Result language

angličtina

Original language name

Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links

Original language description

There are several ubiquitous kinematic structures that are used in industrial robots, with the most prominent being a six-axis angular structure. However, researchers are experimenting with task-based mechanism synthesis that could provide higher efficiency with custom optimized manipulators. Many studies have focused on finding the most efficient optimization algorithm for task-based robot manipulators. These manipulators, however, are usually optimized from simple modular joints and links, without exploring more elaborate modules. Here, we show that link modules defined by small numbers of parameters have better performance than more complicated ones. We compare four different manipulator link types, namely basic predefined links with fixed dimensions, straight links that can be optimized for different lengths, rounded links, and links with a curvature defined by a Hermite spline. Manipulators are then built from these modules using a genetic algorithm and are optimized for three different tasks. The results demonstrate that manipulators built from simple links not only converge faster, which is expected given the fewer optimized parameters, but also converge on lower cost values.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10200 - Computer and information sciences

Project

<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Applied Sciences

ISSN

2076-3417

e-ISSN

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Volume of the periodical

11

Issue of the periodical within the volume

6

Country of publishing house

CH - SWITZERLAND

Number of pages

14

Pages from-to

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UT code for WoS article

000645766100001

EID of the result in the Scopus database

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