Title : ( FL-GA method for optimization of 3PRR planar parallel manipulator for a prescribed workspace )
Authors: , Alireza Akbarzadeh Tootoonchi , Mohammad Reza Akbarzadeh Totonchi ,
Full TextAbstract
Manipulator design can be expressed as a function of workspace requirements. This work presents a hybrid fuzzy logic - genetic algorithm (FL-GA) method for optimization and dimensional synthesis of a 3PRR (prismatic- revolute- revolute) planar parallel manipulator for a prescribed workspace. The algorithm is made of classical genetic algorithm coupled with fuzzy logic. The fuzzy logic controller monitors the variation of genetic algorithm variables during the first run of GA and modifies the initial bounding intervals to restart the next run of the algorithm. Links of robot are minimized while desired workspace is achieved.
Keywords
, Genetic Algorithm, Fuzzy Logic, Optimization, Workspace, Parallel Robot
@inproceedings{paperid:1011800,
author = {, and Akbarzadeh Tootoonchi, Alireza and Akbarzadeh Totonchi, Mohammad Reza},
title = {FL-GA method for optimization of 3PRR planar parallel manipulator for a prescribed workspace},
booktitle = {Iranian Conference on Manufacturing Engineering -ICME2009},
year = {2009},
location = {Birjand, IRAN},
keywords = {Genetic Algorithm; Fuzzy Logic; Optimization; Workspace; Parallel Robot},
}
%0 Conference Proceedings
%T FL-GA method for optimization of 3PRR planar parallel manipulator for a prescribed workspace
%A ,
%A Akbarzadeh Tootoonchi, Alireza
%A Akbarzadeh Totonchi, Mohammad Reza
%J Iranian Conference on Manufacturing Engineering -ICME2009
%D 2009
