کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7179221 | 1467712 | 2018 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Optimal configuration and parametric design of an underwater vehicle manipulator system for a valve task
ترجمه فارسی عنوان
پیکربندی بهینه و طراحی پارامتری سیستم دستکاری وسیله نقلیه زیر آب برای یک کار شیر
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کلمات کلیدی
سیستم دستکاری وسیله نقلیه زیر آب دستکاری دستگیره زیر آب، کشیدن بهینه سازی،
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
چکیده انگلیسی
An underwater vehicle manipulator system (UVMS) has several applications including mining, exploring, and building underwater structures. The current study presents a method to design and optimize an UVMS configuration by measuring the performance of various design alternatives. The concept of a dual-arm manipulator was proposed, and a design alternative was developed for the dual-arm manipulator. Additionally, modified dynamic manipulability that considers hydrodynamic effects was selected to measure the performance of design alternatives. Each alternative was optimized by using a genetic algorithm to maximize dynamic manipulability through a desired task. Optimized alternatives were compared, and the optimal design of a dual-arm manipulator was selected from the alternatives. The proposed method considered hydrodynamic effects on an UVMS to design and optimize a dual-arm UVMS.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 123, May 2018, Pages 76-88
Journal: Mechanism and Machine Theory - Volume 123, May 2018, Pages 76-88
نویسندگان
Jangho Bae, Jeongae Bak, Sangrok Jin, TaeWon Seo, Jongwon Kim,