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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)
Department机器人学研究室
Conference Name2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
Conference DateDecember 11-12, 2010
Conference PlaceChongqing, China
Author of SourceControl 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
Source PublicationApplied Mechanics and Materials
PublisherTrans Tech Publications
Publication PlaceClausthal-Zellerfeld, Germany
2010
Pages743-747
Indexed ByEI ; CPCI(ISTP)
EI Accession number20110313585942
WOS IDWOS:000302594200146
Contribution Rank1
ISSN1660-9336
ISBN978-3-03785-004-6
KeywordComposite Structures Forgings Genetic Algorithms Grippers Manufacture Optimal Systems Optimization
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10446
Collection机器人学研究室
Affiliation1.School of Mechanical and Electrical Engineering, Central South University, Changsha, 410083, China
2.State Key Laboratory of Robotics, Shenyang, 110016, China
Recommended Citation
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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