Configuration analysis and optimization of collaborative robots
文献类型：会议论文
| 作者 | Tian Y(田勇)1,2,3 ; Hu MW(胡明伟)1,2,3; Wang HG(王洪光)2,3; Pan XA(潘新安)2,3
|
| 出版日期 | 2019 |
| 会议日期 | March 15-17, 2019 |
| 会议地点 | Chengdu, China |
| 关键词 | collaborative robots model offset multi-objective genetic algorithm optimization |
| 页码 | 1319-1324 |
| 英文摘要 | The configuration of collaborative robots is analyzed and optimized based on the Kriging model. First, through analyzing configurations of the existing collaborative robots, it can be seen that the offset is an important factor affecting the configuration, which is divided into S type and Y type by the influence on the range of motion of the joint. Then, based on the Kriging model, the multi-objective optimization function is established, which takes the length and offset of each link as parameter variables and regards the global performance index, the workspace volume index and the workspace dexterity performance index as optimization objective. And the influence of the link and offset parameters of the robot on the robot performance index is analyzed. In the end, the pareto optimal solution set and the optimization configurations are obtained using multi-objective genetic algorithm, and the performance is improved, the solution provides theoretical basis for the configuration design of collaborative robots. |
| 源文献作者 | Chengdu Global Union Academy of Science and Technology ; Chongqing Geeks Education Technology Co., Ltd ; Chongqing Global Union Academy of Science and Technology ; Global Union Academy of Science and Technology ; IEEE Beijing Section |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2019 IEEE 3rd Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-6243-4 |
| WOS记录号 | WOS:000491352900255 |
| 源URL | [http://ir.sia.cn/handle/173321/25232]  |
| 专题 | 工艺装备与智能机器人研究室 |
| 通讯作者 | Tian Y(田勇) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 3.Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Tian Y,Hu MW,Wang HG,et al. Configuration analysis and optimization of collaborative robots[C]. 见:. Chengdu, China. March 15-17, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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