0000000000248031

AUTHOR

Lelai Zhou

showing 4 related works from this author

Design optimization on the drive train of a light-weight robotic arm

2011

A drive train optimization method for design of light-weight robots is proposed. Optimal selections of motors and gearboxes from a limited catalog of commercially available components are done simultaneously for all joints of a robotic arm. Characteristics of the motor and gearbox, including gear ratio, gear inertia, motor inertia, and gear efficiency, are considered in the drive train modeling. A co-simulation method is developed for dynamic simulation of the arm. A design example is included to demonstrate the proposed design optimization method.

Engineeringbusiness.industryMechanical Engineeringmedia_common.quotation_subjectDrivetrainDiscrete design variablesControl engineeringDrive train optimizationLight-weight robotInertiaPhysics::Classical PhysicsComputer Science ApplicationsComplex methodDynamic simulationComputer Science::RoboticsControl and Systems EngineeringRobotGear ratioElectrical and Electronic EngineeringbusinessRobotic armmedia_common
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Integrated dimensional and drive-train design optimization of a light-weight anthropomorphic arm

2012

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.

Computer Science::RoboticsBasis (linear algebra)Control and Systems EngineeringComputer scienceGeneral MathematicsRobot manipulatorDrivetrainKinematicsSoftwareSimulationComputer Science ApplicationsRobotics and Autonomous Systems
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odeling of Human Arm Energy Expenditure for Predicting Energy Optimal Trajectories

2011

Human arm motion can inspire the trajectory planning of anthropomorphic robotic arms to achieve energy-efficient movements. An approach for predicting metabolic cost in the planar human arm motion by means of the biomechanical simulation is proposed in this work. Two biomechanical models, including an analytical model and a musculoskeletal model, are developed to implement the proposed approach. The analytical model is developed by modifying a human muscle expenditure model, in which the muscles are grouped as torque providers for computation efficiency. In the musculoskeletal model, the predication of metabolic cost is conducted on the basis of individual muscles. With the proposed approac…

Engineeringbusiness.industryHuman armComputationWork (physics)Parameterized complexityMusculoskeletal modellcsh:QA75.5-76.95Motion (physics)Computer Science ApplicationsControl and Systems EngineeringControl theoryModeling and SimulationTorqueMetabolic costlcsh:Electronic computers. Computer sciencebusinessHuman arm motionRobotic armSoftwareSimulationEnergy (signal processing)ComputingMethodologies_COMPUTERGRAPHICSModeling, Identification and Control: A Norwegian Research Bulletin
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Integrated Design Optimization of a 5-DOF Assistive Light-weight Anthropomorphic Arm

2011

An integrated dimensional and drive train optimization method was developed for light-weight robotic arm design. The method deals with the determination of optimal link lengths and the optimal selection of motors and gearboxes from commercially available components. Constraints are formulated on the basis of kinematic performance and dynamic requirements, whereas the main objective is to minimize the weight. The design of a human-like arm, which is 10 kg in weight with a load capacity of 5 kg, is described. An integrated dimensional and drive train optimizationmethod was developed for light-weight robotic armdesign. The method deals with the determination of optimallink lengths and the opti…

Electric motorIntegrated designEngineeringRobot kinematicsControl theorybusiness.industryTorqueDrivetrainControl engineeringKinematicsbusinessRobotic armHumanoid robot
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