Multi-objective of parameters optimization design on Teleoperation Master hand with force feedback

DOI

10.2991/ameii-15.2015.85How to use a DOI?

Keywords

Teleoperation master hand with force feedback; Genetic algorithm;Multi-objective parameters optimization design.

Abstract

Teleoperation master hands with force feedback are used in the project more and more widely and the design requirements about their structure sizes and the scope of work space are also increasing. In order to expand work space of the master hand robot, and to ensure its kinematic accuracy, the structure size parameters of the master hand robot are designed by multi-objective optimization method in the paper, using its work space, output power on its end, as well as precision-weighted inverse solution as optimizing targets. Firstly, the model of parameter optimization is established by taking the radius of upper and lower platform as well as the lengths of the long and short poles of the master hand robot as design variables. Its output power and hinge corner are analyzed as a motion constraints. The objective function of parameter optimization model is based on a weighted form of work space and Jacobi conditions. Then, Model is simulated and calculated by genetic algorithm. The results show that optimized parameters make the scope of work space improved greatly, as well as increasing in accuracy of inverse kinematics and output force.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jiman Luo
AU  - Genbiao Li
AU  - Long Cui
AU  - Yannan Cui
PY  - 2015/04
DA  - 2015/04
TI  - Multi-objective of parameters optimization design on Teleoperation Master hand with force feedback
BT  - Proceedings of the International Conference on Advances in Mechanical Engineering and Industrial Informatics
PB  - Atlantis Press
SP  - 447
EP  - 452
SN  - 2352-5401
UR  - https://doi.org/10.2991/ameii-15.2015.85
DO  - 10.2991/ameii-15.2015.85
ID  - Luo2015/04
ER  -