FL-GA method for optimization of 3PRR planar parallel manipulator for a prescribed workspace
عنوان مقاله: FL-GA method for optimization of 3PRR planar parallel manipulator for a prescribed workspace
شناسه ملی مقاله: ICME09_100
منتشر شده در نهمین کنفرانس مهندسی ساخت و تولید در سال 1387
شناسه ملی مقاله: ICME09_100
منتشر شده در نهمین کنفرانس مهندسی ساخت و تولید در سال 1387
مشخصات نویسندگان مقاله:
Hamidreza Kordjazi - M.Sc. Student Mechanical Engineering Department, Engineering Faculty,Ferdowsi University of Mashhad, Mashhad, Iran
Alireza Akbarzadeh-T - Assistant professor Mechanical Engineering Department, Engineering Faculty,Ferdowsi University of Mashhad, Mashhad, Iran
Mohammadreza Akbarzadeh-T - Associate professor Mechanical Engineering Department, Engineering Faculty,Ferdowsi University of Mashhad, Mashhad, Iran
خلاصه مقاله:
Hamidreza Kordjazi - M.Sc. Student Mechanical Engineering Department, Engineering Faculty,Ferdowsi University of Mashhad, Mashhad, Iran
Alireza Akbarzadeh-T - Assistant professor Mechanical Engineering Department, Engineering Faculty,Ferdowsi University of Mashhad, Mashhad, Iran
Mohammadreza Akbarzadeh-T - Associate professor Mechanical Engineering Department, Engineering Faculty,Ferdowsi University of Mashhad, Mashhad, Iran
Manipulator design can be expressed as a function of workspace requirements. This work presents a hybrid fuzzy logic - genetic algorithm (FL-GA) method for optimization and dimensional synthesis of a 3PRR (prismatic- revolute- revolute) planar parallel manipulator for a prescribed workspace. The algorithm is made of classical genetic algorithm coupled with fuzzy logic. The fuzzy logic controller monitors the variation of genetic algorithm variables during the first run of GA and modifies the initial bounding intervals to restart the next run of the algorithm. Links of robot are minimized while desired workspace is achieved.
کلمات کلیدی: Genetic Algorithm, Fuzzy Logic, Optimization, Workspace, Parallel Robot
صفحه اختصاصی مقاله و دریافت فایل کامل: https://civilica.com/doc/79755/