Optimal Synthesis of a Robomech: Procedure and Application
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Abstract This paper presents and compares two optimal synthesis techniques for direct application in creating a robomech-II, the second manipulator presented in a new class of linkage arms called Robomcchs. The first optimal synthesis approach will solve the problem as a nonlinear optimization, with a subset of the device parameters described in a linear system and solved directly in a least squares sense. The second approach will employ a least squares optimization using Lagrange Multipliers to contend with nonlinear constraints. In this paper, each optimal synthesis procedure is developed for the general case and then applied to robomcch-II through an example.
1985 ◽
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pp. 167-193
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2016 ◽
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1999 ◽
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pp. 115-126
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pp. 221-244
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2019 ◽
Vol 57
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pp. 1265-1277
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