Multi-objective of parameters optimization design on Teleoperation Master hand with force feedback

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Multi-objective of parameters optimization design on Teleoperation Master hand with force feedback
	Luo JM(罗继曼); Li GB(李根标); Cui L(崔龙); Cui YN(崔艳楠)
	2015
会议名称	International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII)
会议日期	APR 11-12, 2015
会议地点	Zhengzhou, CHINA
关键词	Teleoperation master hand with force feedback Genetic algorithm Multi-objective parameters optimization design
页码	447-452
中文摘要	Teleoperation master hands with force feedback are used in the project more and more widely and the design requirements about their structure sizes and the scope of work space are also increasing. In order to expand work space of the master hand robot, and to ensure its kinematic accuracy, the structure size parameters of the master hand robot are designed by multi-objective optimization method in the paper, using its work space, output power on its end, as well as precision-weighted inverse solution as optimizing targets. Firstly, the model of parameter optimization is established by taking the radius of upper and lower platform as well as the lengths of the long and short poles of the master hand robot as design variables. Its output power and hinge corner are analyzed as a motion constraints. The objective function of parameter optimization model is based on a weighted form of work space and Jacobi conditions. Then, Model is simulated and calculated by genetic algorithm. The results show that optimized parameters make the scope of work space improved greatly, as well as increasing in accuracy of inverse kinematics and output force.
收录类别	CPCI（ISTP）
产权排序	2
会议主办者	Res Inst Management Sci & Ind Engn, Aljabal Algharby Univ, Azad Univ Quchan, Aichi Prefectural Univ, Natl Inst Technol Rourkela, Univ Polytechn Bucharest
会议录	PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICAL ENGINEERING AND INDUSTRIAL INFORMATICS
会议录出版者	ATLANTIS PRESS
会议录出版地	PARIS
语种	英语
ISSN号	2352-5401
ISBN号	978-94-62520-69-1
WOS记录号	WOS:000362291500085
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17117]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Luo JM,Li GB,Cui L,et al. Multi-objective of parameters optimization design on Teleoperation Master hand with force feedback[C]. 见:International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII). Zhengzhou, CHINA. APR 11-12, 2015.