지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 1,490 - 1,493 (4page)
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초록· 키워드
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In this paper, we propose a starfish capturing four-bar based manipulator for an underwater robotic platform. The manipulator is composed of six links, two torsion springs, and one motor. The model is parameterized to link lengths and spring constants, and we solve kinematics and dynamics to get the trajectory of the end-effector of the manipulator. Capturing stroke, the distance while the end-effector keeps in contact to the ground, is used for the objective function to increase capturing capacity. Six lengths of the links and two torsion spring constants are used for design variables. The reaction force, the moment, and some geometric conditions are considered as inequality constraints in the optimization process. Through the optimization, the capturing stroke of the manipulator is increased by 56% comparing to the initial stroke.
목차
Abstract
1. INTRODUCTION
2. FOUR BAR-BASED MANIPULATOR
3. OPTIMIZATION PROBLEM DEFINITION
4. OPTIMIZATION RESULTS
5. CONCLUSION
REFERENCES
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