The Application of Genetic Algorithms on Energy Saving Trajectory Planning of Column Object Transferring Robot

• Main Authors: Wang,Chuan-Chih, 王傳之
• Other Authors: Cheng,Pi-Ying
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/hw6fqw

碩士 === 國立交通大學 === 機械工程系所 === 103 === With the advance of science and technology, the use of robots and mechanical arms has become widespread. Also, mechanical arms have become the best way to replace labour because the increasing on human resource costs. In addition, energy-saving machinery has become one of the hottest issues due to the awareness of CO2 emission reduction and energy saving in recent years. The clamping and moving of pillars need to consider the impact of the dynamic parameter of clamping point and mobile, including rotation. It has a very practical and specific in the practical application. The main purpose of the paper is discussing the comparison of energy dissipation to different routes that mechanical arms consume when it clamps pillar. In order to reach the effect of reducing energy consumption, the paper divides into two parts. The first part presents the design ideas of mechanical arm system to adjust to the condition of gravitational equilibrium at any time during the operation, according to the system of gravity balance. While the mechanical arm is in the condition of rest, the torque output of the servo can be decreased to zero, which is the ideal target. The second part uses numerical methods – Genetic Algorithm to plan and control the best way of saving energy. Genetic Algorithm is to calculate by simulating the rules of genetic inheritance. Charles Robert Darwin’s theory – On the Origin of Species, explains populations will change to adapt their environments and after a period of time, they will form to another new species. Genetic Algorithm is a random search and optimization method from simulating all species in nature that developed from evolution. It is a high efficiently way. Also, it can gain and accumulate information which relates searching spaces automatically and find the best solution from searching. The target of the two-axis mechanical arm that we design is to take and send a pillar from horizontal platform to another vertical place. Energy saving is the main goal that we proceed and test every design in the process of the whole analysis. Another main point of the plan is to calculate the moving path which costs the lowest energy. In this part, we are going to use Genetic Algorithm to find the moving track which expends the minimum energy in the entire system from the process of carrying the pillar. That is, the optimizing plans of controlling the path. The system will be practical use on the three-axis mechanical arm and measure the related data to be verified in NCTU CIDM Lab at last. The result of the research can be used to look for the lowest energy dissipation path from similar mechanical arms.