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Design optimization method for 7 DOF robot manipulator using performance indices

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Abstract

This paper proposes an optimal design method for the design parameters that affect the performance of 7 degrees of freedom (DOF) serial manipulators. The proposed method optimizes the manipulator parameters by using performance indices related to the distribution of inertia, while considering the workspaces and dexterity that correspond to the kinematic performance, and the energy that corresponds to the dynamic performance. The Structural Length Index (SLI) and Global Conditioning Index (GCI), which are kinematic performance indices, and the Modified Dynamic Conditioning Index (MDCI), which is a dynamic performance index, were used as objective functions. After deriving the parameters that affect manipulator performance through these performance indices, a Genetic Algorithm was used for the optimization. This method should be helpful in theoretically designing those parameters that have been created by relying on experience, thus far, in the initial conceptual design stage in 7 DOF manipulator designs.

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Abbreviations

SLI:

Structural Length Index

GCI:

Global Conditioning Index

MDCI:

Modified Dynamic Conditioning Index

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Authors and Affiliations

  1. Department of Mechatronics Engineering, Hanyang University, 55, Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do, 15588, South Korea

    Soonwoong Hwang & Hyeonguk Kim

  2. Department of Mechanical Engineering, Hanyang University, 222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, South Korea

    Younsung Choi

  3. Department of Robot Engineering, Hanyang University, 55, Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do, 15588, South Korea

    Kyoosik Shin & Changsoo Han

Authors
  1. Soonwoong Hwang
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  2. Hyeonguk Kim
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  3. Younsung Choi
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  4. Kyoosik Shin
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  5. Changsoo Han
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Correspondence to Changsoo Han.

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Hwang, S., Kim, H., Choi, Y. et al. Design optimization method for 7 DOF robot manipulator using performance indices. Int. J. Precis. Eng. Manuf. 18, 293–299 (2017). https://doi.org/10.1007/s12541-017-0037-0

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  • DOI: https://doi.org/10.1007/s12541-017-0037-0

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