Path Planning of a 3 DOF Servo-Hydraulic Mechanism Using Genetic Algorithm

الموضوعات : فصلنامه شبیه سازی و تحلیل تکنولوژی های نوین در مهندسی مکانیک

فرشید آقاداوودی ¹ (مربی، دانشکده مهندسی مکانیک، دانشگاه آزاد اسلامی واحد خمینی شهر)
شهرام لنجان نژادیان ² (استادیار، دانشگاه اصفهان)

تاريخ الإرسال : 20 السبت , ذو الحجة, 1436 تاريخ التأكيد : 20 السبت , ذو الحجة, 1436 تاريخ الإصدار : 22 الإثنين , رمضان, 1429

الکلمات المفتاحية: Genetic Algorithm, Hydraulics, Path planning, Servo Mechanism,

ملخص المقالة :

The objective of this paper is path planning of a 3 DOF planer robot with hydraulic actuator using genetic algorithm. First the geometric and kinematic parameters of robot were established. The equations of motion are derived by Lagrange method. We proposed the model for proportional valve and hydraulic actuators. Then using the genetic algorithm we minimized the hydraulic energy consumption as a fitness function during the mechanism motion between two specified points.

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