Elbow driver installation structure optimization design for robotic artificial limbs
Qingchao Yue, Yi Zheng, Peisi Zhong, Shufang Zhou
Available Online June 2017.
- https://doi.org/10.2991/icmia-17.2017.118How to use a DOI?
- robotic; optimization design; MATLAB; optimization algorithms
- Robot artificial limbs has six degrees of freedom. elbow tilting mechanism is driven by a through type linear motor. To determine the elbow installation structure of driven by linear motor, this paper uses the optimization design method, to determine the structure design of the optimization variables, the structure of the motion mathematical model is established, design constraints and objective function is constructed, the comprehensive optimal solutions is gotten by the optimization-algorithm of compound form. Finally, the optimization results is exported and the kinematic simulation graphics is drawed. Considers various factors, From the motor installation space, motor drive efficiency, forelimbs movement range to driving moment , obtains the optimal solution and proves the rationality of the design.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Qingchao Yue AU - Yi Zheng AU - Peisi Zhong AU - Shufang Zhou PY - 2017/06 DA - 2017/06 TI - Elbow driver installation structure optimization design for robotic artificial limbs BT - 2017 6th International Conference on Measurement, Instrumentation and Automation (ICMIA 2017) PB - Atlantis Press SP - 663 EP - 669 SN - 1951-6851 UR - https://doi.org/10.2991/icmia-17.2017.118 DO - https://doi.org/10.2991/icmia-17.2017.118 ID - Yue2017/06 ER -