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  1. Journal of the Brazilian Society of Mechanical Sciences and Engineering
  2. Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 37
  3. Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 37, Issue 6, November 2015
  4. Using metaheuristics for optimum design of 3R orthogonal manipulators considering their topology
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Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 40
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 39
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 38
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 37
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 37, Issue 6, November 2015
Numerical study of the effect of ethanol blending with gasoline surrogate on pollutant emission in well-stirred reactor
Dynamic response in non-perpendicular stiff main directional rotors using coordinate transformation
Effect of uniform suction on nanofluid flow and heat transfer over a cylinder
Toward numerical modeling of the stepped and non-stepped planing hull
ALE/finite element modeling of an unconfined bubble plume in periodic domain: bubble shape and oscillation analysis
Analysis of slug tracking model for gas–liquid flows in a pipe
Design and analysis of optimal die profile for the extrusion of round SiC DRMM Al 6061 composite billet into hexagonal section
Using metaheuristics for optimum design of 3R orthogonal manipulators considering their topology
Numerical investigation of the tunnel aperture on drag reduction in a high-speed tunneled planing hull
Knowledge-based system to support product development focusing on diagnosis of low performance in hermetic compressors
Analysis of the tribological behaviour of an automotive engine exhaust valve and a valve seat using a newly developed high temperature workbench
Modeling and optimizing of a combined CHP system, compression chiller and reverse osmosis plant (CHP + C + W) in two strategies of connections with grid
Numerical study of non-Newtonian Jeffreys fluid from a permeable horizontal isothermal cylinder in non-Darcy porous medium
Three-dimensional finite element analysis of a crack normal to and terminating at a bi-material interface
Computational modeling and simulation of rupture of membranes and thin films
Apparent strain of a pipe at plastic bending buckling state
Static analysis of variable thickness two-directional functionally graded annular sector plates fully or partially resting on elastic foundations by the GDQ method
Numerical simulations of the radiative transfer in a 2D axisymmetric turbulent non-premixed methane–air flame using up-to-date WSGG and gray-gas models
Surface crack analysis under cyclic loads using probabilistic S-version finite element model
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 37, Issue 5, September 2015
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 37, Issue 4, July 2015
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 37, Issue 3, May 2015
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 37, Issue 2, March 2015
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 37, Issue 1, January 2015
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 36
Journal of the Brazilian Society of Mechanical Sciences and Engineering : Volume 35

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Using metaheuristics for optimum design of 3R orthogonal manipulators considering their topology

Content Provider SpringerLink
Author Doricio, J. L. Brandão, M. A. L. Oliveira, G. T. S. Saramago, S. F. P.
Copyright Year 2014
Abstract Several studies have investigated the properties of the workspace of opened chain robotics with the purpose of emphasizing their geometric and kinematic characteristics to devise analytical algorithms and procedures for their design. The workspace of a manipulator robot is considered of great interest from a theoretical and practical viewpoint. In this paper, the workspace topology is defined by the number of kinematic solutions, the number of cusps and nodes that appear on the workspace boundary. In this work, a multiobjective optimization problem is formulated with the aim of obtaining the optimal geometric parameters of robot, which must obey the topology specified by the designer. The maximum workspace volume, the maximum system stiffness and the optimum dexterity are considered as multiobjective functions. In addition, the optimization problem is subject to penalties that control the topology, forcing it to occupy a certain portion of the workspace. In this study, a computational tool, called Improved Differential Evolution with parallel processing, is developed using the concept of evolution shuffled sets. Moreover, three different metaheuristics are applied to obtain the problem solution. Five robotic applications are presented to show the efficiency of the proposed methodology.
Starting Page 1701
Ending Page 1718
Page Count 18
File Format PDF
ISSN 16785878
Journal Journal of the Brazilian Society of Mechanical Sciences and Engineering
Volume Number 37
Issue Number 6
e-ISSN 18063691
Language English
Publisher Springer Berlin Heidelberg
Publisher Date 2014-12-21
Publisher Place Berlin, Heidelberg
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Manipulators topology Approximation methods and heuristics Mechanical Engineering Robotics design Optimization Improved differential evolution Stochastic programming
Content Type Text
Resource Type Article
Subject Applied Mathematics Industrial and Manufacturing Engineering Automotive Engineering Mechanical Engineering Aerospace Engineering
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