Kinematic design optimization of anthropomorphic robot hand using a new performance index

被引：0
|
作者：
You, Won Suk [1 ]
Lee, Young Hun [1 ]
Kang, Gitae [1 ]
Oh, Hyun Seok [1 ]
Seo, Joon Kyue [1 ]
Choi, Hyouk Ryeol [1 ]
机构：
[1] Sungkyunkwan Univ, Sch Mech Engn, Suwon, South Korea
来源：
2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2017年
基金：
新加坡国家研究基金会;
关键词：
Robot Hand; Kinematic; Design Optimization; Genetic Algorithm;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a new performance index, called "Interactivity of Fingers (IF)", for anthropomorphic robot hand and kinematic design optimization process using this performance index and genetic algorithm. This performance index can quantify robot hands' kinematic structures and used for optimizing the kinematic model of an robot hand collaborating with Genetic algorithm. With this procedure position and orientation of the thumb's saddle joint are systematically determined. To evaluate proposed index, optimized hand model's and existing hands' IFs are calculated, compared and discussed.
引用
收藏
页码：20 / 25
页数：6
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