推还是拉:受四爪蝇寄生虫启发开发的拉式抓手与通过多目标优化设计开发的主动推式抓手的抓取性能分析

IF 2.1 Q3 ROBOTICS
Rituparna Datta, Akkarapakam Suneesh Jacob, Bishakh Bhattacharya
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引用次数: 0

摘要

对生物系统的研究和随后的抽象已成为创新新机制的一种流行方法。机器人抓手设计是一个活跃的研究领域,它不断寻求改进,以满足其广泛的应用需求。Tetraonchus momenteron 是一种臭名昭著的寄生虫,它的鱼鳃上有一个坚固的抓取系统(触手)。我们通过多目标优化调整链节长度,重新设计了这种基于拉力的抓取器,以满足实际应用的需要。我们还选择了现有的推式机械手机制,以阐明两种机制之间的异同。基于准静态运动学对推式和拉式机械手进行了分析,并将其表述为受几何和力约束的多目标优化问题。优化的目标是根据所需的标准为每种配置找到最佳的链接长度和关节角度。压电致动器模型的四种可能变体被集成到优化公式中,以驱动机械手模型。这些集成为每种情况带来了四个不同的优化问题。进化多目标优化法用于获得非主导解。根据目标函数值对优化设计进行比较,以评估每个机械手的性能。多目标优化的结果被归一化,并用平行坐标图表示,以帮助决策者。我们的比较研究表明,虽然新的基于自然灵感的拉力设计在许多情况下都显示出了良好的效果,但每种机械手配置都有其自身的优点,需要决策者根据具体要求来选择特定的模型。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Push or pull: grasping performance analysis between a pulling gripper inspired by Tetraonchus monenteron parasite versus an actively pushing gripper developed through many-objective design optimization

Push or pull: grasping performance analysis between a pulling gripper inspired by Tetraonchus monenteron parasite versus an actively pushing gripper developed through many-objective design optimization

Investigation and subsequent abstraction of biological systems have become a popular approach to innovate new mechanisms. Robot gripper design is an active research area that seeks continuous improvements to cater to its wide spectrum of applications. Tetraonchus momenteron is an infamous parasite which has a robust gripping system (haptor) inserted into the fish-gills. We have redesigned this pull-based gripper for practical application by adjusting the link lengths using many-objective optimization. An existing pusher type of gripper mechanism is also selected to elucidate the similarities and dissimilarities between both the mechanisms. Both push and pull based grippers have been analyzed based on quasi static kinematics and are formulated as many objective optimization problems subjected to geometric-cum-force constraints. The goal of optimization is to find the best link lengths and joint angles for each configuration based on desired criteria. Four possible variants of piezoelectric actuator models are integrated into the optimization formulation to actuate the gripper models. These integrations have led to four different optimization problems for each case. Evolutionary many-objective optimization method is used to obtain non-dominated solutions. The optimized designs are compared based on objective function values to evaluate the performance of each gripper. The results of many-objective optimization are normalized and represented using parallel coordinate plots to aid the decision maker. Our comparative study reveals that while the new nature inspired pull based design has shown promising results in many cases, each gripper configuration has its own merits and requires decision maker’s intervention to choose a particular model based on specific requirement.

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来源期刊
CiteScore
3.80
自引率
5.90%
发文量
50
期刊介绍: The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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