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Advances in Robotics Research   Volume 2, Number 1, March 2018, pages 13-31
Optimum static balancing of a robot manipulator using TLBO algorithm
R. Venkata Rao and Gajanan Waghmare

Abstract     [Full Text]
    This paper presents the performance of Teaching-Learning-Based Optimization (TLBO) algorithm for optimum static balancing of a robot manipulator. Static balancing of robot manipulator is an important aspect of the overall robot performance and the most demanding process in any robot system to match the need for the production requirements. The average force on the gripper in the working area is considered as an objective function. Length of the links, angle between them and stiffness of springs are considered as the design variables. Three robot manipulator configurations are optimized. The results show the better or competitive performance of the TLBO algorithm over the other optimization algorithms considered by the previous researchers.
Key Words
    static balancing; robot manipulator; teaching-learning-based optimization algorithm
R. Venkata Rao: Department of Mechanical Engineering, S.V. National Institute of Technology, Ichchanath, Surat,
Gujarat 395 007, India

Gajanan Waghmare: Department of Mechanical Engineering, Sandip Institute of Engineering and Management, Nashik, Maharashtra 422213, India

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