Design Optimization Method for 7 DOF Robot Manipulator Using Performance Indices
DC Field | Value | Language |
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dc.contributor.author | Hwang, Soonwoong | - |
dc.contributor.author | Kim, Hyeonguk | - |
dc.contributor.author | Choi, Younsung | - |
dc.contributor.author | Shin, Kyoosik | - |
dc.contributor.author | Han, Changsoo | - |
dc.date.accessioned | 2021-06-22T14:24:19Z | - |
dc.date.available | 2021-06-22T14:24:19Z | - |
dc.date.created | 2021-01-21 | - |
dc.date.issued | 2017-03 | - |
dc.identifier.issn | 2234-7593 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/10127 | - |
dc.description.abstract | This paper proposes an optimal design method for the design parameters that affect the performance of 7 degrees of freedom (DOF) serial manipulators. The proposed method optimizes the manipulator parameters by using performance indices related to the distribution of inertia, while considering the workspaces and dexterity that correspond to the kinematic performance, and the energy that corresponds to the dynamic performance. The Structural Length Index (SLI) and Global Conditioning Index (GCI), which are kinematic performance indices, and the Modified Dynamic Conditioning Index (MDCI), which is a dynamic performance index, were used as objective functions. After deriving the parameters that affect manipulator performance through these performance indices, a Genetic Algorithm was used for the optimization. This method should be helpful in theoretically designing those parameters that have been created by relying on experience, thus far, in the initial conceptual design stage in 7 DOF manipulator designs. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC PRECISION ENG | - |
dc.title | Design Optimization Method for 7 DOF Robot Manipulator Using Performance Indices | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Shin, Kyoosik | - |
dc.identifier.doi | 10.1007/s12541-017-0037-0 | - |
dc.identifier.scopusid | 2-s2.0-85014904836 | - |
dc.identifier.wosid | 000396238700003 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.18, no.3, pp.293 - 299 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.title | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.volume | 18 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 293 | - |
dc.citation.endPage | 299 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART002200634 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | MECHANISMS | - |
dc.subject.keywordPlus | Conceptual design | - |
dc.subject.keywordPlus | Degrees of freedom (mechanics) | - |
dc.subject.keywordPlus | Energy efficiency | - |
dc.subject.keywordPlus | Genetic algorithms | - |
dc.subject.keywordPlus | Industrial manipulators | - |
dc.subject.keywordPlus | Kinematics | - |
dc.subject.keywordPlus | Machine design | - |
dc.subject.keywordPlus | Mechanisms | - |
dc.subject.keywordPlus | Optimal systems | - |
dc.subject.keywordPlus | Robot applications | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordAuthor | Design optimization | - |
dc.subject.keywordAuthor | Kinematic performance indices | - |
dc.subject.keywordAuthor | Dynamic performance indices | - |
dc.subject.keywordAuthor | Energy efficiency | - |
dc.identifier.url | https://link.springer.com/article/10.1007/s12541-017-0037-0 | - |
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