Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 신규식 | - |
dc.date.accessioned | 2018-06-05T01:01:31Z | - |
dc.date.available | 2018-06-05T01:01:31Z | - |
dc.date.issued | 2017-03 | - |
dc.identifier.citation | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v. 18, No. 3, Page. 293-299 | en_US |
dc.identifier.issn | 2234-7593 | - |
dc.identifier.issn | 2005-4602 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/71844 | - |
dc.identifier.uri | https://link.springer.com/article/10.1007/s12541-017-0037-0 | - |
dc.description.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. | - |
dc.description.sponsorship | This research was supported by the Ministry of Trade, Industry & Energy and the Korea Evaluation Institute of Industrial Technology (KEIT) with the program number of "10060110" and by the Ministry of Trade, Industry, and Energy, Korea, under the Industrial Foundation Technology Development Program supervised by the Korea Evaluation Institute of Industrial Technology (grant number 10041827, Development on S/W Robot Control for Fast Real-time, Flexible and Open Platform supporting 20Khz control frequency and portability). | - |
dc.language.iso | en_US | - |
dc.publisher | KOREAN SOC PRECISION ENG | en_US |
dc.subject | Design optimization | - |
dc.subject | Kinematic performance indices | - |
dc.subject | Dynamic performance indices | - |
dc.subject | Energy efficiency | - |
dc.subject | MECHANISMS | - |
dc.title | Design Optimization Method for 7 DOF Robot Manipulator Using Performance Indices | en_US |
dc.type | Article | en_US |
dc.relation.no | 3 | - |
dc.relation.volume | 18 | - |
dc.identifier.doi | 10.1007/s12541-017-0037-0 | - |
dc.relation.page | 293-299 | - |
dc.relation.journal | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.contributor.googleauthor | Hwang, S | - |
dc.contributor.googleauthor | Hwang, Soonwoong | - |
dc.contributor.googleauthor | Kim, Hyeonguk | - |
dc.contributor.googleauthor | Choi, Younsung | - |
dc.contributor.googleauthor | Shin, Kyoosik | - |
dc.contributor.googleauthor | Han, Changsoo | - |
dc.relation.code | 2017004516 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DEPARTMENT OF ROBOT ENGINEERING | - |
dc.identifier.pid | norwalk87 | - |
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