서지주요정보
다중 로봇의 동적 해석과 설계에의 응용 = Dynamic analysis and application to the design of multi-arm robot
서명 / 저자 다중 로봇의 동적 해석과 설계에의 응용 = Dynamic analysis and application to the design of multi-arm robot / 김충영.
저자명 김충영 ; Kim, Choong-Young
발행사항 [대전 : 한국과학기술원, 1997].
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소장정보

등록번호

8007155

소장위치/청구기호

학술문화관(문화관) 보존서고

DME 97008

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초록정보

Multi-arm robot has infinitive torque solution with a given motion and constructs closed system. Therefore, dynamic analysis and control of the multi-arm robot are not typical problems. Several researches are made for single-arm robot but are not directly available for multi-arm robot. Robot dynamic response analysis is an essential task to improve the performance and efficiently operate. In this dissertation, we propose a method of dynamic analysis of multi-arm robot and new performance index, and apply the proposed method for dynamic characteristic analysis and robot design. Since task space analysis of robot's end-effector is important, equations of motion are derived based on the working space. To represent available accelerations due to actuators and loads due to acceleration and velocity of object and gravity, set theory is introduced. Available acceleration due to actuators constructs polyhedron, and facets of polyhedron can be represented by column vectors of transformation matrix to map actuator torque into acceleration. Using the information, number and equations of facets of available acceleration polyhedron can be found. It is insufficient to quantify robot performance using one index, and it's difficult to consider acceleration and velocity capabilities together among the performances. Therefore, we propose two local performance indices, isotropic acceleration radius (IAR) and isotropic velocity radius (IVR), to quantify acceleration and velocity capabilities separately and analyze robot overall performance. Using the characteristics of available acceleration polyhedron, we propose an algorithm to obtain a compact and analytic solution by linear transformation of polyhedron facets onto normal hyperplane to the axes. To apply the proposed indices to improve the dynamic performance, optimization problem is formulated to determine the minimum actuator size and working points with more than desired values of IAR and IVR for overall workspace. Since this problem includes nonlinear terms, discrete design parameters, and non-differential functions, we employ genetic algorithm to solve the problem. The proposed construction method of available acceleration polyhedron is easily applicable to robot and helpful to analyze robot overall performance. Available acceleration polyhedron of multi-arm robot is more isotropic than that of single-arm robot and not cross area of available acceleration polyhedrons of single-arm robots constructing multi-arm robot, which results are obtained by the proposed method. We can analyze effects of the single-arm robots for the multi-arm robot using the method as well. Since available acceleration polyhedron of multi-arm robot is more isotropic, IAR can represent the polyhedron better and is superior to the other proposed indices. Using two indices, IAR and IVR, robot dynamic performance can be more clearly analyzed. Although the indices are local, dynamic analysis over workspace can be easily done due to short computation time. By the application of genetic algorithm, the complicate optimization problem can be easily solved. It is found that the discrete variables such as actuator size need to be handled as discrete variables.

서지기타정보

서지기타정보
청구기호 {DME 97008
형태사항 viii, 124 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Choong-Young Kim
지도교수의 한글표기 : 윤용산
지도교수의 영문표기 : Yong-San Yoon
학위논문 학위논문(박사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 68-75
주제 다중 로봇
동적 성능
가속도 집합
등가속도 반경
등속도 반경
최적화
Multi-arm robot
Dynamic performance
Acceleration set
Isotropic acceleration radius
Isotropic velocity radius
Optimization
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