Elbow driver installation structure optimization design for robotic artificial limbs

DOI

10.2991/icmia-17.2017.118How to use a DOI?

Keywords

robotic; optimization design; MATLAB; optimization algorithms

Abstract

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.

Copyright

© 2017, 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  - 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  - Proceedings of the 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  - 10.2991/icmia-17.2017.118
ID  - Yue2017/06
ER  -