International Journal of Precision Engineering and Manufacturing
- 제2권1호
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- Pages.76-80
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- 2001
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- 2234-7593(pISSN)
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- 2005-4602(eISSN)
A kinematic Analysis of Binary Robot Manipulator using Genetic Algorithms
- Gilha Ryu (Department of mechanical engineering, Korea University of Technology and Education, South Korea) ;
- Ihnseok Rhee (Department of mechanical engineering, Korea University of Technology and Education, South Korea)
- 발행 : 2001.04.01
초록
A binary parallel robot manipulator uses actuators that have only two stable states being built by stacking variable geometry trusses on top of each other in a long serial chain. Discrete characteristics of the binary manipulator make it impossible to analyze an inverse kinematic problem in conventional ways. We therefore introduce new definitions of workspace and inverse kinematic solution, and the apply a genetic algorithm to the newly defied inverse kinematic problem. Numerical examples show that our genetic algorithm is very efficient to solve the inverse kinematic problem of binary robot manipulators.