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Optimal design for heavy forging robot grippers
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
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2010
页码743-747
收录类别EI ; CPCI(ISTP)
EI收录号20110313585942
WOS记录号WOS:000302594200146
产权排序1
ISSN号1660-9336
ISBN号978-3-03785-004-6
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.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10446
专题机器人学研究室
作者单位1.School of Mechanical and Electrical Engineering, Central South University, Changsha, 410083, China
2.State Key Laboratory of Robotics, Shenyang, 110016, China
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GB/T 7714
Li QM,Qin QH,Zhang, Shiwei,et al. Optimal design for heavy forging robot grippers[C]//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. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2010:743-747.
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