Details
| Original language | English |
|---|---|
| Title of host publication | Mechanisms and Machine Science |
| Place of Publication | Cham |
| Publisher | Springer Netherlands |
| Pages | 1949-1958 |
| Number of pages | 10 |
| ISBN (electronic) | 978-3-030-20131-9 |
| ISBN (print) | 978-3-030-20130-2 |
| Publication status | Published - 14 Jun 2019 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 73 |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 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.
Keywords
- Combined Structural and Dimensional Synthesis, Dynamics Regressor Form, Robot Design Optimization
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
Cite this
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Mechanisms and Machine Science. Cham: Springer Netherlands, 2019. p. 1949-1958 (Mechanisms and Machine Science; Vol. 73).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › 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 -