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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)
作者部门机器人学研究室
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
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
会议录名称PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICAL ENGINEERING AND INDUSTRIAL INFORMATICS
出版者ATLANTIS PRESS
出版地PARIS
2015
页码447-452
收录类别CPCI(ISTP)
WOS记录号WOS:000362291500085
产权排序2
ISSN号2352-5401
ISBN号978-94-62520-69-1
关键词Teleoperation Master Hand With Force Feedback Genetic Algorithm Multi-objective Parameters Optimization Design
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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17117
专题机器人学研究室
作者单位1.Shenyang Jianzhu University,Liaoning, Shenyang 110168
2.Chinese Academy of Sciences and Shenyang Institute of Automation, Liaoning, Shenyang, 110016
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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]//Res Inst Management Sci & Ind Engn, Aljabal Algharby Univ, Azad Univ Quchan, Aichi Prefectural Univ, Natl Inst Technol Rourkela, Univ Polytechn Bucharest. PARIS:ATLANTIS PRESS,2015:447-452.
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