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Title of Journal: Int J Precis Eng Manuf

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Abbravation: International Journal of Precision Engineering and Manufacturing

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Korean Society for Precision Engineering

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DOI

10.1007/s00705-004-0327-6

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ISSN

2005-4602

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Design optimization method for 7 DOF robot manipul

Authors: Soonwoong Hwang Hyeonguk Kim Younsung Choi Kyoosik Shin Changsoo Han
Publish Date: 2017/03/09
Volume: 18, Issue: 3, Pages: 293-299
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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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