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The nonlinear displacement analysis of robotic manipulators using the complex optimization method

Authors
Journal
Mechanism and Machine Theory
0094-114X
Publisher
Elsevier
Publication Date
Volume
22
Issue
1
Identifiers
DOI: 10.1016/0094-114x(87)90081-4

Abstract

Abstract The nonlinear displacement analysis of the open-loop space mechanisms has been carried out in the present work. The solution of these types of problems has been done by the complex method normally used for optimization. The use of this method is illustrated by solving a planar and a spatial (robotic manipulator) mechanisms. The advantage of this method is that, among the possible multiple solutions for this type of the open-loop space mechanisms, the best solution that needs minimum movement of the links is obtained.

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