bachelorThesis
Projeto ótimo de manipuladores paralelos em um espaço de trabalho determinado
Fecha
2015-06-01Registro en:
MAZARI, Daniel Frederico. Projeto ótimo de manipuladores paralelos em um espaço de trabalho determinado. 2015.Trabalho de Conclusão de Curso (Bacharelado em Engenharia Mecânica) - Universidade Tecnológica Federal do Paraná, Cornélio Procópio, 2015.
Autor
Mazari, Daniel Frederico
Resumen
This work aims at introducing an optimal design procedure to determine the structural parameters of the full parallel manipulator by using genetic algorithms in order to maximize the kinematic dexterity of the manipulator over a desired workspace. With this purpose, the inverse kinematic model was established by the vector description of the kinematic chains, the model of the Jacobian matrix. The kinematic dexterity is based on the condition number of the Jacobin matrix. The simulations results of this design methodology indicate that the Genetic Algorithm allows to determine simultaneously the parameters that define the structure of the mechanism. Additionally, the methodology implemented in this work has a low computational cost that allows the resolution of the optimization problem in a reasonable time.