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TOLERANCE SPECIFICATION OF ROBOT KINEMATIC PARAMETERS USING OPTIMIZATION METHOD

. S. Suresh Balaji


Abstract

Designing of kinematic tolerance has become an energetic part in robot kinematic enhancement because of relationship between cost and quality. It is favorite discovered areas in optimization. In this applied work, a investigated Non dominated Genetic Algorithm (NSGA-II), is used for optimizing the tolerance in grounded range on minimum cost the manufacturing cost. The rhino robot assemblies such as planer two link manipulator and five degree-of-freedom considered to demonstrate by the NSGA-II. It is found that the NSGA-II has produced better results than existing Taguchi and monte carlo methods for kinematic tolerance problems.

Keywords: Tolerance, kinematics, optimization and NSGA-II

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