OPTIMAL DESIGN PARAMETERS OF RECONFIGURABLE ROBOTS WITH LOCKABLE JOINTS

摘要

This paper presents a global optimization methodology to find the optimal Denavit–Hartenberg parameters of a serial reconfigurable manipulator minimizing a cost function over a pre-specified workspace volume and given lower and upper bounds on the design parameters. Different cost functions such as the manipulability measure, maximum force capability of the manipulator’s end-effector, and maximum velocity capability of the manipulator within the operating workspace of the manipulator are considered to optimize the kinematic design. Based on a combination of genetic algorithm (GA) and sequential quadratic programming (SQP), a modified global and posture-independent parameter of singularity (MPIPS) is presented. Finally, a weighted objective function is proposed to balance between the conflicting requirements for manipulator’s force and velocity capabilities.