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题名: An optimization design method for the mechanism parameters of an amphibious transformable robot
作者: Li N(李楠) ; Ma SG(马书根) ; Wang MH(王明辉) ; Li B(李斌) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
会议日期: October 7-12, 2012
会议地点: Vilamoura, Algarve, Portugal
会议主办者: IEEE Robotics and Automation Society
会议录: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 2282-2288
收录类别: EI
ISBN号: 978-1-4673-1735-1
摘要: This paper presents an optimal design method for a new robot called amphibious transformable robot which can not only perform reconfiguration but also implement tasks in amphibious environment. To satisfy a range of performance requirements for the robot in aquatic and terrestrial environments, the multi-objective optimization method is adopted to design the robot which can achieve the optimal comprehensive performance in the amphibious environment. Based on the kinematics and dynamic analysis of the robot, the multi-objective optimization problem of the mechanism parameters design is established on the mapping relationships between the performance indexes, and then Multi-Objective Genetic Algorithm is proposed to get Pareto solution. Based on combination weighting method of multi-attribute decision-making, the result can be extracted and used to direct the mechanism design of the amphibious transformable robot, Amoeba-II. The experiment for the maneuverability of Amoeba-II in the amphibious environment is performed to verify the validity and applicability of the mechanism-parameters design method of amphibious transformable robot based on Multi-Objective Genetic Algorithm.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10190
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
李楠; 马书根; 王明辉; 李斌; 王越超.An optimization design method for the mechanism parameters of an amphibious transformable robot.见:IEEE.Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,New York, USA,2012,2282-2288
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