- Tytuł:
- Multi-objective optimization of a medical robot model in transient states
- Autorzy:
-
Ilewicz, G.
Harlecki, A. - Powiązania:
- https://bibliotekanauki.pl/articles/196543.pdf
- Data publikacji:
- 2018
- Wydawca:
- Politechnika Śląska. Wydawnictwo Politechniki Śląskiej
- Tematy:
-
medical robot
dynamics
transient state
optimization
genetic algorithm
finite element method
robot medyczny
dynamika
stan przejściowy
optymalizacja
algorytm genetyczny
metoda elementów skończonych - Opis:
- The article describes the method for the multi-objective optimization of a proposed medical robot model, which has been considered in the form of a serial kinematic chain. In the assumed approach, the finite element method was used in order to model the flexibility of manipulator links. To speed up the optimization process, the response surface method was applied, defining the so-called metamodel. In order to uncover the optimal solution, a multi-objective genetic algorithm was used, guaranteeing the optimality of the manipulator model in the Pareto sense. The optimization process was carried out by analysing the selected case of the manipulator’s dynamics. The proposed optimization method allows us to minimize the mass of the manipulator while additionally ensuring the highest possible stiffness of its structure and sufficient strength of its parts. Furthermore, it offers the possibility to eliminate the natural frequency of vibrations of the model close to the resonant frequency.
- Źródło:
-
Zeszyty Naukowe. Transport / Politechnika Śląska; 2018, 99; 79-88
0209-3324
2450-1549 - Pojawia się w:
- Zeszyty Naukowe. Transport / Politechnika Śląska
- Dostawca treści:
- Biblioteka Nauki
Artykuł