1Aditya Engineering College, Surampalem, E.G.Dist..
2College of Engineering, Osmania University, Hyderabad.
3Mech.Engg., Aditya Engineering College,Surampalem, E.G.Dist..
Robot arms have received greater attention in these days are open chain linkages. Each joint is actuated independently in these robots. While possessing many advantages like large work space they have disadvantages like less rigidity, accumulation of mechanical errors etc.
An alternative to open chain is the in parallel robot actuator arrangement. In the present paper a genetic algorithm is designed for making the structural comparison among the kinematic chains in order to select the best frame and impact links.
The computational effort involved is minimum and the method is unique, as it satisfies both the necessary and sufficient requirements. Chains are compared for function generation on the basis of the “Fitness” of first generation and second generation “Fitness” etc.. in an order.
Fitness, Function generation, degree of freedom
