Kinematic synthesis using reinforcement learning

Conference paper (2018)

Authors

Kaz Vermeer Student
P.R. Kuppens Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
J.L. Herder Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering , Precision and Microsystems Engineering
Research Group
Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2018 Kaz Vermeer, P.R. Kuppens, J.L. Herder
DOI
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https://doi.org/10.1115/DETC2018-85529
More Info
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Published Date

2018

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

The presented research demonstrates the synthesis of two-dimensional kinematic mechanisms using feature-based reinforcement learning. As a running example the classic challenge of designing a straight-line mechanism is adopted: a mechanism capable of tracing a straight line as part of its trajectory. This paper presents a basic framework, consisting of elements such as mechanism representations, kinematic simulations and learning algorithms, as well as some of the resulting mechanisms and a comparison to prior art. Series of successful mechanisms have been synthesized for path generation of a straight line and figure-eight.