Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis

verfasst von

Moritz Schappler, Svenja Tappe, Tobias Ortmaier

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.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Beitrag in Buch/Sammelwerk

Seiten

1949-1958

Anzahl der Seiten

10

Publikationsdatum

14.06.2019

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Werkstoffmechanik, Maschinenbau

Elektronische Version(en)

https://doi.org/10.15488/10211 (Zugang: Offen)
https://doi.org/10.1007/978-3-030-20131-9_193 (Zugang: Geschlossen)