S. Ragunathan and L. Karunamoorthy
Robots, limp materials, handling, optimization, genetic algorithm
Pick-up locations are optimized using genetic algorithm by minimizing the deformation of fabric part. For ease of manipulation of limp parts by robots, it is essential that they undergo the minimum possible deformation. This minimum deformation can be obtained by picking the limp parts at the optimal locations by minimizing the strain energy. The limp parts are modelled as supported Euler- Bernoulli beam subjected to uniformly distributed load undergoing small deformations. Analytical expressions for strain energy are derived for two support locations. The strain energy is computed from the finite element solution, and numerical computations are done in MATLAB. The pick-up locations corresponding to the two support locations obtained by genetic algorithm are compared with numerical solution.
Important Links:
Go Back
