A Computer-Based Methodology for the Form Synthesis and Optimal Design of Robot Manipulators
A Computer-Based Methodology for the Form Synthesis and Optimal Design of Robot Manipulators
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基于计算机的机器人机械臂形状综合和优化设计方法
DOI：
10.1115/1.2912638
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
A. Seireg
中科院分区：
文献类型：
--
作者：
S. Manoochehri;A. Seireg
本文报告的研究涉及开发一种通用的基于计算机的方法，用于机器人操纵器的形式综合和优化设计。为实现该方法而开发的计算机程序以两种不同的模式运行。第一种涉及用户定义拓扑的综合，在第二种模式中，设计者仅提供所需的任务，然后程序将通过系统评估和合理替代方案的排名来生成最佳的操纵器配置。该方法同时将运动学和动态综合以及最佳驱动和应力分析纳入集成设计过程。该过程依赖于表格基本元素的机械手配置的系统组成。综合和控制的优化策略采用动态编程方法，可以分阶段选择最佳参数，而不会牺牲这种高度耦合的非线性系统固有的相互作用。
The study reported in this paper deals with the development of a generalized computer-based methodology for the form synthesis and optimal design of robot manipulators. The developed computer program to implement the methodology operates in two separate modes. The first deals with the synthesis of user defined topologies and in the second mode, the designer provides only the required task, then the program will generate optimum manipulator configuration by systematic evaluation and ranking of plausible alternatives. The methodology simultaneously incorporates kinematic and dynamic synthesis as well as optimal actuation and stress analysis in an integrated design process. The procedure relies on the systematic composition of manipulator configurations from tabulated basic elements. The optimization strategy for synthesis and control utilizes a dynamic programming approach which makes it possible to select the optimum parameters in a stage-wise manner without sacrificing the interactions inherent in such highly coupled nonlinear systems.