Optimal design and fabrication of "CEDRA" rescue robot using genetic algorithm

Meghdari, A ; Sharif University of Technology | 2004

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  1. Type of Document: Article
  2. DOI: 10.1115/detc2004-57190
  3. Publisher: American Society of Mechanical Engineers , 2004
  4. Abstract:
  5. This article presents an overview of the mechanical design features, fabrication and control of a Rescue Robot (CEDRA) for operation in unstructured environments. As a preliminary step, the essential characteristics of a robot in damaged and unstable situations have been established. According to these features and kinematical equations of the robot, design parameters are optimized by means of Genetic Algorithm. Optimum parameters are then utilized in construction. Upon fabrication, this unit has been tested in clean laboratory environment, as well as, ill-conditioned arenas similar to earthquake zones. The obtained results have been satisfactory in all aspects, and improvements are currently underway to enhance capabilities of the rescue robot unit for various applications
  6. Keywords:
  7. Design ; Earthquakes ; Design engineering ; Manufacturing ; Genetic algorithms ; Robots ; Construction
  8. Source: 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, UT, 28 September 2004 through 2 October 2004 ; Volume 2 A , 2004 , Pages 541-548
  9. URL: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2004/46954/541/306426