Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | Mechanisms and Machine Science |
| Erscheinungsort | Cham |
| Herausgeber (Verlag) | Springer Netherlands |
| Seiten | 1949-1958 |
| Seitenumfang | 10 |
| ISBN (elektronisch) | 978-3-030-20131-9 |
| ISBN (Print) | 978-3-030-20130-2 |
| Publikationsstatus | Veröffentlicht - 14 Juni 2019 |
Publikationsreihe
| Name | Mechanisms and Machine Science |
|---|---|
| Band | 73 |
| ISSN (Print) | 2211-0984 |
| ISSN (elektronisch) | 2211-0992 |
Abstract
In the design optimization of robot manipulators regarding drive train and link geometries the dynamics equations have to be evaluated repeatedly. The method proposed in this paper reduces the computational effort in the dynamics evaluations by using the property of parameter linearity of the dynamics equations. The combined structural and dimensional synthesis of robot manipulators is adapted in a set of hierarchical optimization loops to exploit this dynamics property. By this means a reduction of computation time for the inverse dynamics in the synthesis of up to factor three is possible.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Werkstoffmechanik
- Ingenieurwesen (insg.)
- Maschinenbau
Zitieren
- Standard
- Harvard
- Apa
- Vancouver
- BibTex
- RIS
Mechanisms and Machine Science. Cham: Springer Netherlands, 2019. S. 1949-1958 (Mechanisms and Machine Science; Band 73).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Beitrag in Buch/Sammelwerk › Forschung › Peer-Review
}
TY - CHAP
T1 - Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis
AU - Schappler, Moritz
AU - Tappe, Svenja
AU - Ortmaier, Tobias
N1 - Funding information: The financial support from the Deutsche Forschungsgemeinschaft (DFG) under grant number OR 196/33-1 is gracefully acknowledged.
PY - 2019/6/14
Y1 - 2019/6/14
N2 - In the design optimization of robot manipulators regarding drive train and link geometries the dynamics equations have to be evaluated repeatedly. The method proposed in this paper reduces the computational effort in the dynamics evaluations by using the property of parameter linearity of the dynamics equations. The combined structural and dimensional synthesis of robot manipulators is adapted in a set of hierarchical optimization loops to exploit this dynamics property. By this means a reduction of computation time for the inverse dynamics in the synthesis of up to factor three is possible.
AB - In the design optimization of robot manipulators regarding drive train and link geometries the dynamics equations have to be evaluated repeatedly. The method proposed in this paper reduces the computational effort in the dynamics evaluations by using the property of parameter linearity of the dynamics equations. The combined structural and dimensional synthesis of robot manipulators is adapted in a set of hierarchical optimization loops to exploit this dynamics property. By this means a reduction of computation time for the inverse dynamics in the synthesis of up to factor three is possible.
KW - Combined Structural and Dimensional Synthesis
KW - Dynamics Regressor Form
KW - Robot Design Optimization
UR - http://www.scopus.com/inward/record.url?scp=85067570711&partnerID=8YFLogxK
U2 - 10.15488/10211
DO - 10.15488/10211
M3 - Contribution to book/anthology
AN - SCOPUS:85067570711
SN - 978-3-030-20130-2
T3 - Mechanisms and Machine Science
SP - 1949
EP - 1958
BT - Mechanisms and Machine Science
PB - Springer Netherlands
CY - Cham
ER -