OPTIMAL SYNTHESIS OF A MANIPULATOR USING TWO COMPETITIVE METHODS

Abstract

This paper defines a program realization for finding the optimal geometry of a planar Z-mechanism. The paper shows the mathematical procedure for defining the objective function, the constraint function and the search fields which are used for solving the optimization problem. Starting from the solutions in practice, a numerical example is given to determine an optimum design with four optimization parameters. All the optimization parameters are geometric on the mechanism for defining the bucket position. The problem is solved by two different numerical methods - the method of formal search of hyperspace (passive scanning method) and the approximate method of Sequential Quadratic Programming - SQP (applying the function fminmax of the Matlab optimization toolbox). The verification is performed with animation using software for geometric modeling. The results are graphically illustrated.