MULTI-OBJECTIVE OPTIMIZATION OF A MEDICAL ROBOT MODEL IN TRANSIENT STATES
| Autor: | Andrzej Harlecki, Grzegorz Ilewicz |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science finite element method Aerospace Engineering Transportation 02 engineering and technology Multi-objective optimization Computer Science::Robotics 020901 industrial engineering & automation 0203 mechanical engineering Control theory genetic algorithm Transient (computer programming) Civil and Structural Engineering medical robot transient state TA1001-1280 Medical robot Mechanical Engineering dynamics Engineering (General). Civil engineering (General) Transportation engineering 020303 mechanical engineering & transports Automotive Engineering TA1-2040 optimization |
| Zdroj: | Scientific Journal of Silesian University of Technology. Series Transport, Vol 99, Pp 79-88 (2018) |
| ISSN: | 2450-1549 0209-3324 |
| DOI: | 10.20858/sjsutst.2018.99.7 |
| Popis: | 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 socalled 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. |
| Databáze: | OpenAIRE |
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