سال انتشار: ۱۳۸۶

محل انتشار: دومین کنفرانس بین المللی و هشتمین کنفرانس ملی مهندسی ساخت و تولید

تعداد صفحات: ۱۰

نویسنده(ها):

Majid Moghaddam – Assistant professor , engineering faculty tarbiat modarres university
M Daryanavard – Msstudent engineering faculty tarbiat modarres university

چکیده:

In this paper , a 4DOF manipulator which can install on a mobile robot is optimized with geometrical kinematics theorems such as Dexterity . Task based approach for optimizing geometrical kinematics factors is compared with global approach . The task based approach involves five different tasks . The difference between the task base approach and the global approach varies up 18 percent for some tasks.