Robot mechanical structure optimization design

Author

Sun, Yilan ; Liu, Hongyi ; Luo, Zhong ; Wang, Fei

Author_Institution

Sch. of Mech. Eng. & Autom., Univ. of Northeastern, Shenyang

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1919

Lastpage

1923

Abstract

According to the multi-objective, multi-constraint, multi-variable characteristics of robot mechanical structure optimization design (RMSOD), taking the solid propellant missile wall grinding robot for example, multi-objective simplification method and design variables division method are presented to simplify the optimization model of RMSOD. Moreover, on the basis of the solution characteristics of discrete variable optimization model, trend meet judgment is used in the calculation of rotating coordinate method to reduce the optimum design variables search space. Ultimately, using the discrete complex method gets the optimum solution of the RMSOD.

Keywords

control system synthesis; grinding; industrial robots; missiles; optimisation; search problems; design variable division method; discrete variable optimization model; multiobjective multiconstraint multivariable characteristics; robot mechanical structure optimization design; rotating coordinate method; search space; solid propellant missile wall grinding robot; trend meet judgment; Constraint optimization; Design methodology; Design optimization; End effectors; Missiles; Orbital robotics; Propulsion; Robot kinematics; Robotics and automation; Solid modeling; Design variables division method; Multi-objective simplification; RMSOD; Trend meet judgment;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522460

Filename

4522460