OPTIMIZATION OF POWER USAGE AND REQUIRED TORQUE FOR DELTA ROBOT, USING GENETIC ALGORITHM

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NADERI D.; SALEHI R.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

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Paper Information

Journal: Journal of Aerospace Mechanics Year:2010 | Volume:6 | Issue:4 (22) (MECHANICAL BEHAVIOR OF MATERIALS' AND STRUCTURES) Page(s): 11-24

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Information Journal Paper

Title

OPTIMIZATION OF POWER USAGE AND REQUIRED TORQUE FOR DELTA ROBOT, USING GENETIC ALGORITHM

Author(s)

NADERI D. | SALEHI R. | Issue Writer Certificate

Keywords

DELTA PARALLEL ROBOTQ3

PATH OPTIMIZATIONQ3

KANE DYNAMICSQ3

GENETIC ALGORITHMQ2

ADAMS SOFTWAREQ3

Abstract

In this paper, PATH OPTIMIZATION for delta robot in traveling between two arbitrary points is presented. Using the dynamic model, joint trajectories of delta robot are optimized considering the required power and torque in traveling between two points. To detect optimal parameters for joint trajectories, spline functions are optimized via GENETIC ALGORITHM. Results of simulation indicate good performance of suggested algorithm (specifically in the case of reducing the power usage) for robot movement from one point to another in a 3-D space. Also, solution to dynamic modeling of the robot, using KANE DYNAMICS reveals good matching results as are compared to an ADMAS numerical simulation.

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APA: Copy

NADERI, D., & SALEHI, R.. (2010). OPTIMIZATION OF POWER USAGE AND REQUIRED TORQUE FOR DELTA ROBOT, USING GENETIC ALGORITHM. AEROSPACE MECHANICS JOURNAL, 6(4 (22) (MECHANICAL BEHAVIOR OF MATERIALS' AND STRUCTURES)), 11-24. SID. https://sid.ir/paper/101749/en

Vancouver: Copy

NADERI D., SALEHI R.. OPTIMIZATION OF POWER USAGE AND REQUIRED TORQUE FOR DELTA ROBOT, USING GENETIC ALGORITHM. AEROSPACE MECHANICS JOURNAL[Internet]. 2010;6(4 (22) (MECHANICAL BEHAVIOR OF MATERIALS' AND STRUCTURES)):11-24. Available from: https://sid.ir/paper/101749/en

IEEE: Copy

D. NADERI, and R. SALEHI, “OPTIMIZATION OF POWER USAGE AND REQUIRED TORQUE FOR DELTA ROBOT, USING GENETIC ALGORITHM,” AEROSPACE MECHANICS JOURNAL, vol. 6, no. 4 (22) (MECHANICAL BEHAVIOR OF MATERIALS' AND STRUCTURES), pp. 11–24, 2010, [Online]. Available: https://sid.ir/paper/101749/en

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