Optimal custom design of both symmetric and unsymmetrical hexapod robots for aeronautics applications

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• 作者：Andrea Cirillo^a ; Pasquale Cirillo^a ; ^{pasquale.cirillo@unina2.it} ; Giuseppe De Maria^a ; Alessandro Marino^b ; Ciro Natale^a ; Salvatore Pirozzi^a
• 关键词：Aeronautics part positioning ; Adaptive fixture ; Stewart platform ; Parallel robot ; Optimal design ; Genetic algorithm
• 刊名：Robotics and Computer-Integrated Manufacturing
• 出版年：2017
• 出版时间：April 2017
• 年：2017
• 卷：44
• 期：Complete
• 页码：1-16
• 全文大小：6865 K
• 卷排序：44

文摘

A software tool for optimal design of hexapod robots is proposed. The tool is based on Inverse Dynamics computation implemented in Matlab. A Genetic Algorithm is proposed and compared with other optimization methods. The method is tested with the optimal design of an hexapod robot for aeronautics applications.