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

Authors:
Lelai Zhou;Shaoping Bai;Michael Rygaard Hansen
Affiliations:
Department of Mechanical and Manufacturing Engineering, Aalborg University, Pontoppidanstræde 103, 9220 Aalborg, Denmark;Department of Mechanical and Manufacturing Engineering, Aalborg University, Pontoppidanstræde 103, 9220 Aalborg, Denmark;Department of Engineering, University of Agder, Grooseveien 36, 4876 Grimstad, Norway
Venue:
Robotics and Autonomous Systems
Year:
2012

Citing 3
Cited 0

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Abstract

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.