Design of compliant mechanisms by structural optimization using genetic algorithms.
Gripping and moving objects are the important functions in assembly and manipulating tasks typically accomplished by robots. But these conventional mechanisms are expensive and complicated. Also, compliant manipulators are necessary if small/micro size desired. Realizing these two functions within a...
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| Format: | Theses and Dissertations |
| Published: |
2008
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| Online Access: | https://hdl.handle.net/10356/5597 |
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| Institution: | Nanyang Technological University |
| Summary: | Gripping and moving objects are the important functions in
assembly and manipulating tasks typically accomplished by robots.
But these conventional mechanisms are expensive and complicated.
Also, compliant manipulators are necessary if small/micro size
desired. Realizing these two functions within a single compliant
mechanism will be attractive and promising. The objective of this
research is to formulate the design problem of designing compliant
mechanisms exhibiting both gripping and moving behavior (i.e.
grip-and-move manipulators), and to design these mechanisms
through a process of structural optimization. |
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