交渉ゲーム理論を用いた機械システムの設計 : ロボットアームの構造系の最適設計

概要

論文の詳細を見る
There are a number of difficulties in designing a mechanical systems; designers, for example, must consider how two or more .feature requiremeJcts can coexist. Traditionally, multiple indexes (two or more) have been multiplied by weight constants and then added each other in order to generate a new index. However, the method requires weight constants to be fixed based on a designer's experience and/or a trial and error process. This paper applies the game theory - often introduced to explain situations in economic activity to mechanical system designs. Each design's index is mapped into utility functions, so that design parameters can be obtain by calculating the Nash product. An example of a 2-degree of freedom robot arm, optimized for high manipulability and low torque fluctuating, is also illustrated.
一般社団法人日本機械学会の論文
1998-11-25