6533b874fe1ef96bd12d62f9
RESEARCH PRODUCT
Integrated Design Optimization of a 5-DOF Assistive Light-weight Anthropomorphic Arm
Shaoping BaiLelai ZhouMichael Rygaard Hansensubject
Electric motorIntegrated designEngineeringRobot kinematicsControl theorybusiness.industryTorqueDrivetrainControl engineeringKinematicsbusinessRobotic armHumanoid robotdescription
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 optimal selection of motors and gearboxesfrom commercially available components. Constraints are formulatedon the basis of kinematic performance and dynamicrequirements, whereas the main objective is to minimize theweight. The design of a human-like arm, which is 10 kg inweight with a load capacity of 5 kg, is described.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2011-06-20 |