Full Content is available to subscribers

Subscribe/Learn More  >

Kinematic Optimization of the Arm of a Working Machine

[+] Author Affiliations
Antonio Alba, Francesco Bucchi, Francesco Frendo, Marco Gabiccini

University of Pisa, Pisa, Italy

Paper No. DETC2014-34885, pp. V006T10A071; 10 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4639-1
  • Copyright © 2014 by ASME


The aim of this work is to develop an optimization methodology for the design of the arm of a small-sized working machine. The workspace and a reference maneuver are firstly defined together with a pre-defined redundant kinematic topology. The kinematic synthesis is framed as a constrained multi-objective problem with respect to link length variables. The constraints consider the capability of the machine to follow the assigned trajectory and to fulfill the joint limits. The cost function incorporates the solution of the inverse kinematics and uses several indices, e.g., total link lengths, manipulability, energy consumption. The multi-objective optimization problem is solved employing the weighting method, converting the initial problem into a single-objective one. The final scalar cost function is minimized by the Nelder-Mead method. On the basis of the outcomes of numerical simulations, the effectiveness and versatility of the developed procedure for the design of novel working machine arms is verified.

Copyright © 2014 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In