a genetic algorithm for optimization in conceptual design phase of robots

Clicks: 140
ID: 142615
2007
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Abstract
One of the most important criteria of the industrial robots is the dynamic performance of manipulators. There are some critical parameters which determine the dynamic performance of robot manipulators. While the correlations between these parameters are complex and highly non-linear, deciding on these parameters to optimize the dynamic performance of manipulators is a difficult and time-consuming task, especially in the early conceptual design phase. The gearbox size and the lengths of the arms are parameters that have a large impact on the performance and the cost of robots. In order to perform optimization, a mathematical programming model is developed. An objective function is defined to determine optimal gearboxes and arm lengths from an acceleration capability perspective. The arm lengths are treated as continuous variables whereas the gearboxes are selected from a list of available units. This paper presents a Genetic algorithm procedure which shows how optimization can be used in the early phases of a development process in order to evaluate the potential of a concept. This study considers a three degree of freedom robot. The mathematical model is coded in the C language and optimized using the Genetic algorithm. Comparison of the obtained results with optimum values based on Complex algorithm clearly shows the advantages of the proposed method.
Reference Key
jafari2007sensors Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Amir Jafari;Mohsen Safavi;Alireza Fadaei
Journal gülhane tıp dergi
Year 2007
DOI
DOI not found
URL
http://www.sensorsportal.com/HTML/DIGEST/october_07/P_193.pdf
Keywords
optimization

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