Optimal design for heavy forging robot grippers

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	Optimal design for heavy forging robot grippers
	Li QM(李群明); Qin QH(秦庆华); Zhang, Shiwei; Deng H(邓华)
	2010
会议名称	2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
会议日期	December 11-12, 2010
会议地点	Chongqing, China
关键词	Composite structures Forgings Genetic algorithms Grippers Manufacture Optimal systems Optimization
页码	743-747
中文摘要	This paper analyzes three typical mechanisms of heavy forging robot grippers: pulling with a sliding block including short- and long-leveraged grippers and pushing leveraged grippers, and uses multi-objective evolutionary genetic algorithm to design the optimal forging robot grippers. The decision variables are defined according to the geometrical dimensions of the heavy grippers, and four objective functions are defined according to gripping forces and force transmission relationships between the joints, and the constraints are yielded by the physical conditions and the structure of the grippers. Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II) is used to solve the optimization problem. Normalized weighting objective functions are used to select the best optimal solution from Pareto optimal fronts. The Pareto fronts and optimal results are compared and analyzed. An optimal model of forging robot gripper is designed. The results show the effectiveness of the optimal design. Based on similarity theory, optimum dimensions from small scale forging grippers to large scale ones can be designed, and from model to prototype experiment to test the physical features is possible. © (2011) Trans Tech Publications.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology
会议录	Applied Mechanics and Materials
会议录出版者	Trans Tech Publications
会议录出版地	Clausthal-Zellerfeld, Germany
语种	英语
ISSN号	1660-9336
ISBN号	978-3-03785-004-6
WOS记录号	WOS:000302594200146
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10446]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Li QM,Qin QH,Zhang, Shiwei,et al. Optimal design for heavy forging robot grippers[C]. 见:2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010. Chongqing, China. December 11-12, 2010.