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Development and design optimization of water hydraulic manipulator for ITER

✍ Scribed by Teemu Kekäläinen; Jouni Mattila; Tapio Virvalo


Book ID
108137182
Publisher
Elsevier Science
Year
2009
Tongue
English
Weight
566 KB
Volume
84
Category
Article
ISSN
0920-3796

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A general optimization methodology for the optimal design of robotic manipulators is presented and illustrated by its application to a realistic and practical three-link revolute-joint planar manipulator. The end-effector carries out a prescribed vertical motion for which, respectively, the average