Graduation Semester and Year

2005

Language

English

Document Type

Thesis

Degree Name

Master of Science in Mechanical Engineering

Department

Mechanical and Aerospace Engineering

First Advisor

Ping Bo Wang

Abstract

Design optimization of serial manipulators involves striking a balance between an appropriate joint angle and exact link lengths. The optimization technique used in this thesis uses a unique algorithm that optimizes the joint angle through an Inverse Kinematics program. The synthesis problem involves setting up an accurate design length so as to reach a set of given target points inside the workspace without any singularity. The optimization process based on task specification focuses on the maximization of manipulability index, the objective function subjected to link length and joint angle constraints. The results obtained were plotted and animated to visualize the link movements in achieving the target locations.

Disciplines

Aerospace Engineering | Engineering | Mechanical Engineering

Comments

Degree granted by The University of Texas at Arlington

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