전역 성능의 균등분포 향상을 위한 7 자유도 머니퓰레이터 최적 설계

Abstract

In this thesis, a method of evaluating the equability of the performance distributions in the entire workspace involving manipulators is proposed. The proposed global evaluation method and performance index were used to determine the link length so that the performance of a 7-degrees-of-freedom manipulator would be evenly distributed throughout the entire workspace. The characteristics and application method of the global conditioning index (GCI) were presented for the latter�s use as the global performance index for the comparison of the existing global performance evaluation with the proposed method, and the two methods� differences were explained using a coefficient of variation. A local performance index was applied with the Inertia Matching Index (IMI), which represents the transmission efficiency of the end-effector forces at the joint torque for sensing the performance enhancement more closely, and with the Modified Inertia Matching Index (MIMI), in which the Condition Number (CN) that represents the performance isotropy is mixed. Optimization was carried out on the same manipulator, and the GCI and proposed methods were applied for use as the objective functions. Three different direct-search optimization methods were used in this research: the Evolutionary Algorithm (EA), the Micro Genetic Algorithm (�GA), and the Progressive Quadratic Response Surface Method (PQRSM), and their suitability was analyzed to find the suitable optimization method in conducting optimization for evaluation method proposal and link length decision. Simulations were conducted in a few working environments provided to compare the existing global evaluation method GCI with the proposed method, the force norm at the consumption torque and end-effector during the process was analyzed to determine the physical meaning of the performance index that was used as well as the ratios of the torque and forces, and the study results expressed in averages, standard deviations, and coefficient of variation were discussed.