Multi-objective of parameters optimization design on Teleoperation Master hand with force feedback
文献类型：会议论文
| 作者 | Luo JM(罗继曼); Li GB(李根标); Cui L(崔龙); Cui YN(崔艳楠) |
| 出版日期 | 2015 |
| 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 |
| 关键词 | Teleoperation master hand with force feedback Genetic algorithm Multi-objective parameters optimization design |
| 页码 | 447-452 |
| 中文摘要 | 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. |
| 收录类别 | CPCI（ISTP） |
| 产权排序 | 2 |
| 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 | PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICAL ENGINEERING AND INDUSTRIAL INFORMATICS
 |
| 会议录出版者 | ATLANTIS PRESS |
| 会议录出版地 | PARIS |
| 语种 | 英语 |
| ISSN号 | 2352-5401 |
| ISBN号 | 978-94-62520-69-1 |
| WOS记录号 | WOS:000362291500085 |
| 源URL | [http://ir.sia.cn/handle/173321/17117]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 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]. 见:International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII). Zhengzhou, CHINA. APR 11-12, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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