Abstract
The octahedron seven point mass model of equimomental point masses and optimization technique “teaching–learning-based optimization” is presented to minimize constraint forces and moments at joints of an industrial manipulator. The octahedron point mass model configuration presented offers positive values for equimomental point masses to facilitate link shape formation. Equations are derived to compute point masses and their locations for the rigid links of an industrial manipulator. The flow chart of the teaching–learning-based optimization applicable in solving the manipulators problem is presented and used. The constraint moments at heavily loaded joints are reduced significantly. Moreover, the maximum values of driving torques are also reduced at joints. It is observed that teaching–learning-based optimization gives better results with less computational effort vis-à-vis genetic algorithm for the manipulator optimization problem formulated. The teaching–learning-based optimization algorithm introduced first time for manipulator balancing as optimization solver.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.