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Design Optimization Method for 7 DOF Robot Manipulator Using Performance Indices

Title
Design Optimization Method for 7 DOF Robot Manipulator Using Performance Indices
Author
신규식
Keywords
Design optimization; Kinematic performance indices; Dynamic performance indices; Energy efficiency; MECHANISMS
Issue Date
2017-03
Publisher
KOREAN SOC PRECISION ENG
Citation
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v. 18, No. 3, Page. 293-299
Abstract
This paper proposes an optimal design method for the design parameters that affect the performance of 7 degrees of freedom (DOF) serial manipulators. The proposed method optimizes the manipulator parameters by using performance indices related to the distribution of inertia, while considering the workspaces and dexterity that correspond to the kinematic performance, and the energy that corresponds to the dynamic performance. The Structural Length Index (SLI) and Global Conditioning Index (GCI), which are kinematic performance indices, and the Modified Dynamic Conditioning Index (MDCI), which is a dynamic performance index, were used as objective functions. After deriving the parameters that affect manipulator performance through these performance indices, a Genetic Algorithm was used for the optimization. This method should be helpful in theoretically designing those parameters that have been created by relying on experience, thus far, in the initial conceptual design stage in 7 DOF manipulator designs.
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/71844https://link.springer.com/article/10.1007/s12541-017-0037-0
ISSN
2234-7593; 2005-4602
DOI
10.1007/s12541-017-0037-0
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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