Advances in robotics research

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Optimum static balancing of a robot manipulator using TLBO algorithm

  • Rao, R. Venkata (Department of Mechanical Engineering, S.V. National Institute of Technology) ;
  • Waghmare, Gajanan (Department of Mechanical Engineering, Sandip Institute of Engineering and Management)
  • Received : 2015.12.01
  • Accepted : 2017.12.07
  • Published : 2018.03.25
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Abstract

This paper presents the performance of Teaching-Learning-Based Optimization (TLBO) algorithm for optimum static balancing of a robot manipulator. Static balancing of robot manipulator is an important aspect of the overall robot performance and the most demanding process in any robot system to match the need for the production requirements. The average force on the gripper in the working area is considered as an objective function. Length of the links, angle between them and stiffness of springs are considered as the design variables. Three robot manipulator configurations are optimized. The results show the better or competitive performance of the TLBO algorithm over the other optimization algorithms considered by the previous researchers.

Keywords

References

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