Optimal Design of Robotic Mechanism
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Optimal design of robotic mechanism is the process of adjusting the structural parameters to achieve optimal performances while keeping them from not violating mechanism constraints [1, 2, 3]. This is the step of connecting the mechanism property to the application requirements of the robot. For instance, the robot being applied in manufacturing such as machining and milling is required to be equipped with high stiffness but low weight . Hence, the stiffness and dynamic performances of the robot are considered in the optimal design and regarded to be either objectives or constraints. Corresponding performance models containing the relations between structural parameters and the performances built in the previous chapters are applied. By changing the structural parameters which are called design variables in the optimal design, the optimal performances of the robot meeting the application requirements can be achieved with the aid of optimization algorithm [5, 6, 7, 8].
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