Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/3537068/figures/3537068.fig.009a.svgz" name="3537068.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Seven-link manipulator in the server room, intermediate iteration number 5</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/3537068/figures/3537068.fig.009b.svgz" name="3537068.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Seven-link design in the server room: final solution</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/3537068/figures/3537068.fig.009c.svgz" name="3537068.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Number of violated constraints and the objective function evaluation</td></tr></table>

<div>Analysis: the server room case study.</div>

Journal of Robotics

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Figure 9

Figure 9: Service Arms with Unconventional Robotic Parameters for Intricate Workstations: Optimal Number and Dimensional Synthesis 