6533b7d5fe1ef96bd1263d45
RESEARCH PRODUCT
Design optimization on the drive train of a light-weight robotic arm
Shaoping BaiLelai ZhouMichael Rygaard Hansensubject
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_commondescription
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.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2011-04-01 |