Article
DYNAMIC ANALYSIS AND OPTIMIZATION OF ROBOTIC MANIPULATORS FOR PRECISION MANUFACTURING
Precision manipulators Robotic manipulators are used in precision manufacturing, where their high accuracy, repeatability and efficiency are important. The problem though is how to optimize these systems when it comes to their dynamic performance over a range of different operating conditions. In this paper, a detailed dynamic analysis of robotic manipulators has been brought out with the aim of enhancing the responsiveness and stability of the manipulators. An optimization-based performance improvement is done by a combination of kinematic modeling, dynamic simulation. The suggested methodology is as follows: the dynamic model will be developed based on the Euler-Lagrange approach and the precision and energy efficiency will be balanced with the multi-objective optimization done with the genetic algorithms. Simulation studies confirm the efficacy of the strategy in enhancing the performance of the system with the variations in the load and fast trajectory demands. The research is very insightful in the areas of combining dynamic analysis and optimization in the realization of the next generation of robotic systems to be used in precision work.
Full Text Attachment
