Integrated dimensional and drive-train design optimization of a light-weight anthropomorphic arm

被引：27
作者：
Zhou, Lelai [1 ]
Bai, Shaoping [1 ]
Hansen, Michael Rygaard [2 ]
机构：
[1] Aalborg Univ, Dept Mech & Mfg Engn, DK-9220 Aalborg, Denmark
[2] Univ Agder, Dept Engn, N-4876 Grimstad, Norway
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2012年 / 60卷 / 01期
关键词：
Integrated dimensional and drive-train optimization; Light-weight robot; Complex method; GCI; ROBOT;
D O I：
10.1016/j.robot.2011.09.004
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An approach to minimize the mass of robotic manipulators is developed by integrated dimensional and drive-train optimization. The method addresses the influences of dimensions and characteristics of drive-trains in the design optimization. Constraints are formulated on the basis of kinematic performance and dynamic requirements, whereas the main objective is to minimize the total mass. Case studies are included to demonstrate the application of the optimization method in the design of assistive robots. (C) 2011 Elsevier B.V. All rights reserved.
引用
收藏
页码：113 / 122
页数：10
相关论文
共 33 条
[1]   The DLR lightweight robot:: design and control concepts for robots in human environments [J].
Albu-Schaeffer, A. ;
Haddadin, S. ;
Ott, Ch. ;
Stemmer, A. ;
Wimboeck, T. ;
Hirzinger, G. .
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2007, 34 (05) :376-385
[2]  
Ananiev A., 2002, Problemy na Tekhnicheskata Kibernetika i Robotikata, V53, P93
[3]  
Antony G. G., RATING SIZING PRECIS
[4]   Optimum design of spherical parallel manipulators for a prescribed workspace [J].
Bai, Shaoping .
MECHANISM AND MACHINE THEORY, 2010, 45 (02) :200-211
[5]   Integration of a rehabilitation robotic system (KARES II) with human-friendly man-machine interaction units [J].
Bien, Z ;
Chung, MJ ;
Chang, PH ;
Kwon, DS ;
Kim, DJ ;
Han, JS ;
Kim, JH ;
Kim, DH ;
Park, HS ;
Kang, SH ;
Lee, K ;
Lim, SC .
AUTONOMOUS ROBOTS, 2004, 16 (02) :165-191
[6]   Dynamic loading criteria in actuator selection for desired dynamic performance [J].
Bowling, A ;
Khatib, O .
ADVANCED ROBOTICS, 2003, 17 (07) :641-656
[7]   A NEW METHOD OF CONSTRAINED OPTIMIZATION AND A COMPARISON WITH OTHER METHODS [J].
BOX, MJ .
COMPUTER JOURNAL, 1965, 8 (01) :42-52
[8]   OPTIMUM CHOICE OF ROBOT ACTUATORS [J].
CHEDMAIL, P ;
GAUTIER, M .
JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME, 1990, 112 (04) :361-367
[9]  
Chen DZ, 1997, J ROBOTIC SYST, V14, P601, DOI 10.1002/(SICI)1097-4563(199708)14:8<601::AID-ROB2>3.0.CO
[10]  
2-Q
1234