Link Lengths Optimization Based on Multiple Performance Indexes of Anthropomorphic Manipulators

Link Lengths Optimization Based on Multiple Performance Indexes of Anthropomorphic Manipulators

How to determine the optimal link length parameters according to task requirements and constraints is a key problem in the design of anthropomorphic manipulators. Considering multiple performance indexes such as dexterity and end stiffness, this article presents a method on how to maximally improve...

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Bibliographic Details
Main Authors: Qinhuan Xu, Qiang Zhan, Xinyang Tian
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Anthropomorphic manipulator
end stiffness
comprehensive motion performance
evaluation index
link length optimization
Online Access:https://ieeexplore.ieee.org/document/9335994/

Internet

https://ieeexplore.ieee.org/document/9335994/

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