کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7179973 | 1467742 | 2015 | 17 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A combinatorial search method for the quasi-static payload capacity of serial modular reconfigurable robots
ترجمه فارسی عنوان
یک روش جستجو ترکیبی برای ظرفیت بار تقریبا نیمه استاتیک از روبات های قابل تنظیم مجدد سریال
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کلمات کلیدی
ربات پیکربندی مدولار، الگوریتم ژنتیک، جستجو در فضای کاری، ظرفیت باربری، تجزیه و تحلیل تصحیح،
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
چکیده انگلیسی
This paper presents a new combinatorial search method for the quasi-static stiffness performance evaluation and payload capacity analysis of serial modular reconfigurable robots (MRRs). The goal in this paper is to optimize the external payload capacity to achieve a global set of satisfactory kineto-elastic performance requirements for all module configurations. This problem exhibits considerable numerical complexities since the maximum payload capacity is dependent on a large number of possible module configurations, the worst-case stiffness poses for each configuration, and multiple kineto-elastic performance requirements. Therefore, to alleviate these difficulties, the problem is decomposed into an elimination search algorithm to reduce the configuration search space, a genetic algorithm to directly search the configuration workspaces and find the worst-case stiffness poses, and a bisection method to determine the maximum payload capacity at the worst-case configurations and poses. It is demonstrated that the worst-case stiffness search method in this paper is superior in computational time and numerical accuracy compared to previous hierarchical or incremental search methods, which require searching through a pre-determined number of poses. Through case studies, the new combinatorial search method is proven to be computationally efficient and can obtain accurate results for the worst-case stiffness poses and maximum payload capacity.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 92, October 2015, Pages 240-256
Journal: Mechanism and Machine Theory - Volume 92, October 2015, Pages 240-256
نویسندگان
Richard Phillip Mohamed, Fengfeng (Jeff) Xi, Yu Lin,