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题名: Optimal design for heavy forging robot grippers
作者: Li QM(李群明) ; Qin QH(秦庆华) ; Zhang, Shiwei ; Deng H(邓华)
作者部门: 机器人学研究室
会议名称: 2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
会议日期: December 11-12, 2010
会议地点: Chongqing, China
会议主办者: Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology
会议录: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications
会议录出版地: Clausthal-Zellerfeld, Germany
出版日期: 2010
页码: 743-747
收录类别: CPCI(ISTP) ; EI
ISSN号: 1660-9336
ISBN号: 9783037850046
关键词: Composite structures ; Forgings ; Genetic algorithms ; Grippers ; Manufacture ; Optimal systems ; Optimization
摘要: This paper analyzes three typical mechanisms of heavy forging robot grippers: pulling with a sliding block including short- and long-leveraged grippers and pushing leveraged grippers, and uses multi-objective evolutionary genetic algorithm to design the optimal forging robot grippers. The decision variables are defined according to the geometrical dimensions of the heavy grippers, and four objective functions are defined according to gripping forces and force transmission relationships between the joints, and the constraints are yielded by the physical conditions and the structure of the grippers. Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II) is used to solve the optimization problem. Normalized weighting objective functions are used to select the best optimal solution from Pareto optimal fronts. The Pareto fronts and optimal results are compared and analyzed. An optimal model of forging robot gripper is designed. The results show the effectiveness of the optimal design. Based on similarity theory, optimum dimensions from small scale forging grippers to large scale ones can be designed, and from model to prototype experiment to test the physical features is possible. © (2011) Trans Tech Publications.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10446
Appears in Collections:机器人学研究室_会议论文

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