%0 Journal Article
%T Optimal design of 3R manipulators by using classical techniques and simulated annealin
%A Lanni
%A C.
%A Saramago
%A S. F. P.
%A Ceccarelli
%A M.
%J Journal of the Brazilian Society of Mechanical Sciences
%D 2002
%I Scientific Electronic Library Online
%R 10.1590/S0100-73862002000400007
%X in this paper, the optimum design of 3r manipulators is formulated and solved by using an algebraic formulation of workspace boundary. a manipulator design can be approached as a problem of optimization, in which the objective functions are the size of the manipulator and workspace volume; and the constrains can be given as a prescribed workspace volume. the numerical solution of the optimization problem is investigated by using two different numerical techniques, namely, sequential quadratic programming and simulated annealing. numerical examples illustrate a design procedure and show the efficiency of the proposed algorithms.
%K robotics
%K computational kinematics
%K manipulator design
%K workspace
%K optimization.
%U http://www.scielo.br/scielo.php?script=sci_abstract&pid=S0100-73862002000400007&lng=en&nrm=iso&tlng=en