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Stiffness Analysis for an Optimal Design of Multibody Robotic Systems : Analisi della rigidezza per una progettazione ottimizzata di sistemi robotici multicorpo, in: Robot Manipulators New Achievements |
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| Author |
Carbone, Giuseppe |
| Published |
InTech Open Access Publisher, 2010
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| Abstract |
In this paper, a multi-objective optimal design procedure is outlined by discussing
optimality criteria and numerical aspects. In particular, optimality criteria have been chosen
according to the most common design requirements for robotic systems by paying special
attention to stiffness, since it is of primary importance in order to guarantee the successful
use of any robotic system for a given task. Additional alternative objective functions can be
used to extend the proposed design procedure to more general design problems. The
feasibility of such a complex design formulation for robotic manipulators has been
illustrated by referring to experiences that have been developed at LARM in Cassino. |
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