Scholarlink

By aiming for perfect distributions of important kinematic performance indices within a predetermined accessible area, the study seeks to determine the ideal link length configuration for a 3R serial robot. In MathWorks MATLAB, numerical analyses of these performance index distributions were conducted for a range of connection length configurations. The connection lengths were defined by introducing a dimensionless parameter, k. The ideal solution was found using a developed objective function by iterating over the workspace and various k values.

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The 3R Serial Robot’s Optimal Synthesis Based on Kinematic Performance Measures

  • 会议论文

  • 发表日期：

    2026年

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  • Alexandru Oarcea,
  • Elida-Gabriela Tulcan,
  • Orest-Gheorghe Bădărău,
  • Robert Kristof,
  • Erwin-Christian Lovasz

摘要

By aiming for perfect distributions of important kinematic performance indices within a predetermined accessible area, the study seeks to determine the ideal link length configuration for a 3R serial robot. In MathWorks MATLAB, numerical analyses of these performance index distributions were conducted for a range of connection length configurations. The connection lengths were defined by introducing a dimensionless parameter, k. The ideal solution was found using a developed objective function by iterating over the workspace and various k values.