TY - GEN
T1 - Optimal design of robotic manipulators based on simultaneously considering links and joints flexibility
AU - Xiao, Yongqiang
AU - Dong, Wei
AU - Du, Zhijiang
PY - 2012
Y1 - 2012
N2 - In this paper, a geometrical optimization and reducers selection method is proposed for robotic manipulators design, which considers the flexibility of links and joints simultaneously. The Lagrangian approach is employed in deriving the dynamic model of a two-DOF manipulator. Timoshenko model is used to discretize the dynamic model. Two criteria, i.e. maximization of fundamental frequency and minimization of self-weight/load ratio, are utilized to optimize the manipulators. The NSGA-II (Fast Elitist Nondominated Sorting Genetic Algorithms) is employed to solve the multi-objective optimization problem. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations are provided and the effectiveness of the optimization is proved.
AB - In this paper, a geometrical optimization and reducers selection method is proposed for robotic manipulators design, which considers the flexibility of links and joints simultaneously. The Lagrangian approach is employed in deriving the dynamic model of a two-DOF manipulator. Timoshenko model is used to discretize the dynamic model. Two criteria, i.e. maximization of fundamental frequency and minimization of self-weight/load ratio, are utilized to optimize the manipulators. The NSGA-II (Fast Elitist Nondominated Sorting Genetic Algorithms) is employed to solve the multi-objective optimization problem. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations are provided and the effectiveness of the optimization is proved.
UR - https://www.scopus.com/pages/publications/84866936318
U2 - 10.1109/AIM.2012.6265987
DO - 10.1109/AIM.2012.6265987
M3 - 会议稿件
AN - SCOPUS:84866936318
SN - 9781467325752
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 514
EP - 519
BT - AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
T2 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Y2 - 11 July 2012 through 14 July 2012
ER -