A Multi-Objective Optimization of a Robotic Arm for Service Tasks

被引：0

作者：

Castejon, Cristina ^{[1
]}

Carbone, Giuseppe ^{[2
]}

Garcia Prada, J. C. ^{[1
]}

Ceccarelli, M. ^{[2
]}

机构：

[1] Univ Carlos III Madrid, MAQLAB Grp, Dept Engn Mech, Madrid 28911, Spain

[2] Univ Cassino, LARM, DiMSAT, Cassino, Italy

来源：

STROJNISKI VESTNIK-JOURNAL OF MECHANICAL ENGINEERING | 2010年 / 56卷 / 05期

关键词：

robotics; robot design; service robots; optimal design;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, the main characteristics and peculiarities of service tasks are investigated in order to propose the design criteria in the firm of computationally efficient objective functions. Then, these design criteria can be implemented in a multi-objective optimization algorithm by using ever commercial packages in order to obtain optimal design solutions fir service robots. The proposed procedure has been applied to a robotic arm for service tasks. It is composed of two modules with four degrees of freedom (dofs). The main module with two dofs is called SIDEMAR (Spanish acronym of Mechatronic Design of an Integrated System for Service Robots). It has been designed and built at the Carlos III University of Madrid as a module for service robot applications. Results of the above-mentioned case study are reported to show both the soundness and engineering feasibility of the proposed multi-objective optimal design procedure. (C) 2010 Journal of Mechanical Engineering. All rights reserved.

引用

页码：316 / 329

页数：14

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