This paper addresses the issues related to the design of optimum structure for lightweight, flexible manipulators under the total weight constraint. The optimum design problem is formulated by establishing a mathematical model of flexible manipulator based on the finite difference method, the optimal solution is obtained by using an improved real-code genetic algorithms (GA). Numeric simulation has been conducted and the results have demonstrated the effectiveness of the proposed method.


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    Titel :

    Optimum structure design of flexible manipulators based on GA


    Beteiligte:
    Ling-li Cui, (Autor:in) / Zhi-quan Xiao, (Autor:in)


    Erscheinungsdatum :

    2003-01-01


    Format / Umfang :

    274321 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Optimum Structure Design of Flexible Manipulators Based on GA

    Cui, L. / Xiao, Z.-q. / IEEE | British Library Conference Proceedings | 2003




    Symbolic Modelling of Flexible Manipulators

    Piedboeuf, J.-C. / American Astronautical Society| American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 1996