Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links
Source abstract
Abstract
There are several ubiquitous kinematic structures that are used in industrial robots, with the most prominent being a six-axis angular structure. However, researchers are experimenting with task-based mechanism synthesis that could provide higher efficiency with custom optimized manipulators. Many studies have focused on finding the most efficient optimization algorithm for task-based robot manipulators. These manipulators, however, are usually optimized from simple modular joints and links, without exploring more elaborate modules. Here, we show that link modules defined by small numbers of parameters have better performance than more complicated ones. We compare four different manipulator link types, namely basic predefined links with fixed dimensions, straight links that can be optimized for different lengths, rounded links, and links with a curvature defined by a Hermite spline. Manipulators are then built from these modules using a genetic algorithm and are optimized for three different tasks. The results demonstrate that manipulators built from simple links not only converge faster, which is expected given the fewer optimized parameters, but also converge on lower cost values.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Robot Manipulation and Learning · Modular Robots and Swarm Intelligence
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Robotics, Faculty of Mechanical Engineering, VSB-TU Ostrava, 70800 Ostrava, Czech Republic
Funding
European Regional Development Fund
References (27)
Show source-provided references
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