A Multi-Objective Optimization of a Robotic Arm for Service Tasks

作者：Castejon Cristina^*; Carbone Giuseppe; Garcia Prada J C; Ceccarelli M

来源：Strojniski Vestnik-Journal of Mechanical Engineering, 2010, 56(5): 316-329.

• robotics
• robot design
• service robots
• optimal design

In this paper, the main characteristics and peculiarities of service tasks are investigated in order to propose the design criteria in the firm of computationally efficient objective functions. Then, these design criteria can be implemented in a multi-objective optimization algorithm by using ever commercial packages in order to obtain optimal design solutions fir service robots. The proposed procedure has been applied to a robotic arm for service tasks. It is composed of two modules with four degrees of freedom (dofs). The main module with two dofs is called SIDEMAR (Spanish acronym of Mechatronic Design of an Integrated System for Service Robots). It has been designed and built at the Carlos III University of Madrid as a module for service robot applications. Results of the above-mentioned case study are reported to show both the soundness and engineering feasibility of the proposed multi-objective optimal design procedure.

• 出版日期2010-5