Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4218
Título: Optimal location of the workpiece in a PKM-based machining robotic cell
Autor: Pires, E. J. Solteiro
Lopes, António M.
Machado, J. A. Tenreiro
Oliveira, P. B. Moura
Data: 2013
Editora: IGI Global
Relatório da Série N.º: Swarm Intelligence for Electric and Electronic Engineering; Cap. 11
Resumo: Most machining tasks require high accuracy and are carried out by dedicated machine-tools. On the other hand, traditional robots are flexible and easy to program, but they are rather inaccurate for certain tasks. Parallel kinematic robots could combine the accuracy and flexibility that are usually needed in machining operations. Achieving this goal requires proper design of the parallel robot. In this chapter, a multi-objective particle swarm optimization algorithm is used to optimize the structure of a parallel robot according to specific criteria. Afterwards, for a chosen optimal structure, the best location of the workpiece with respect to the robot, in a machining robotic cell, is analyzed based on the power consumed by the manipulator during the machining process.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4218
ISBN: 9781466626669
Versão do Editor: http://www.igi-global.com/chapter/optimal-location-workpiece-pkm-based/72830
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