This paper addresses the issues related to the design of optimum structure for lightweight, flexible manipulators under the total weight constraint. The optimum design problem is formulated by establishing a mathematical model of flexible manipulator based on the finite difference method, the optimal solution is obtained by using an improved real-code genetic algorithms (GA). Numeric simulation has been conducted and the results have demonstrated the effectiveness of the proposed method.


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    Title :

    Optimum structure design of flexible manipulators based on GA


    Contributors:


    Publication date :

    2003-01-01


    Size :

    274321 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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