کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
496841 862872 2009 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Evolutionary multi criteria design optimization of robot grippers
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر نرم افزارهای علوم کامپیوتر
پیش نمایش صفحه اول مقاله
Evolutionary multi criteria design optimization of robot grippers
چکیده انگلیسی

This paper explores the use of intelligent techniques to obtain optimum geometrical dimensions of a robot gripper. The optimization problem considered is a non-linear, complex, multi-constraint and multicriterion one. Three robot gripper configurations are optimized. The aim is to find Pareto optimal front for a problem that has five objective functions, nine constraints and seven variables. The problem is divided into three cases. Case 1 has first two objective functions, the case 2 considers last three objective functions and case 3 deals all the five objective functions. Intelligent optimization algorithms namely Multi-objective Genetic Algorithm (MOGA), Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II) and Multi-objective Differential Evolution (MODE) are proposed to solve the problem. Normalized weighting objective functions method is used to select the best optimal solution from Pareto optimal front. Two multi-objective performance measures (solution spread measure (SSM) and ratio of non-dominated individuals (RNIs)) are used to evaluate the strength of the Pareto optimal fronts. Two more multi-objective performance measures namely optimizer overhead (OO) and algorithm effort are used to find the computational effort of MOGA, NSGA-II and MODE algorithms. The Pareto optimal fronts and results obtained from various techniques are compared and analyzed.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Applied Soft Computing - Volume 9, Issue 1, January 2009, Pages 159–172
نویسندگان
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