Two-Stage Optimization of a Reconfigurable Asymmetric 6-DOF Haptic Robot for Task-Specific Workspace

Zhang, Changqi1; Wang, Congzhe2; Miao, Qing1; Zhang, Mingming1

10.1109/IROS51168.2021.9636251

2021

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

978-1-6654-1715-0

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

8345-8351

SEP 27-OCT 01, 2021

null,null,ELECTR NETWORK

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Parallel mechanisms (PMs) are commonly used for developing haptic devices due to low inertia, high rigidity and precision. However, limited workspace impedes their application for task-oriented robotic therapy which generally requires large motion ranges. To solve this problem, first, a PM-based reconfigurable asymmetric 6-DOF haptic interface was presented, and then a two-stage optimization method was proposed to make the robot implement two kinds of task-specific workspaces including gross motor tasks (GMTs) and fine motor tasks (FMTs). Optimization of this robot was conducted to pursue a compact size and high accuracy. The global conditioning index (GCI) and the occupied area of the robot were selected as the evaluation indices, where the GCI was derived using a dimensionally homogeneous Jacobian matrix. A multi-objective optimization method based on the genetic algorithm (GA) was utilized. The actual design parameters were finally defined from solutions of the Pareto front. The proposed two-stage optimization method provides a feasible solution for determining task-specific robotic workspace of the reconfigurable mechanism.

Jacobian matrices Torque Optimization methods Static analysis Haptic interfaces Rigidity Task analysis

第一 ; 通讯

英语

CPCI-S ; EI

National Natural Science Foundation of China[61903181]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:000755125506081

20220711623783

Genetic algorithms ; Jacobian matrices ; Mechanisms ; Multiobjective optimization ; Robotics ; Robots

Mechanisms:601.3 ; Computer Peripheral Equipment:722.2 ; Robotics:731.5 ; Algebra:921.1 ; Optimization Techniques:921.5

Web of Science

1.Southern Univ Sci & Technol, Coll Engn, Dept Biomed Engn, Shenzhen Key Lab Smart Healthcare Engn, Shenzhen 518055, Guangdong, Peoples R China
2.Chongqing Univ Posts & Telecommun, Sch Adv Mfg Engn, Chongqing 400065, Peoples R China

Zhang, Changqi,Wang, Congzhe,Miao, Qing,et al. Two-Stage Optimization of a Reconfigurable Asymmetric 6-DOF Haptic Robot for Task-Specific Workspace[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:8345-8351.