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.
Optimum structure design of flexible manipulators based on GA
2003-01-01
274321 byte
Conference paper
Electronic Resource
English
Optimum Structure Design of Flexible Manipulators Based on GA
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