6533b831fe1ef96bd12984ca

RESEARCH PRODUCT

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

Michael Rygaard HansenShaoping BaiLelai Zhou

subject

Computer Science::RoboticsBasis (linear algebra)Control and Systems EngineeringComputer scienceGeneral MathematicsRobot manipulatorDrivetrainKinematicsSoftwareSimulationComputer Science Applications

description

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.

yearjournalcountryeditionlanguage
2012-01-01Robotics and Autonomous Systems
https://doi.org/10.1016/j.robot.2011.09.004