Multidisciplinary Design Optimization of Modular Industrial Robots by Utilizing High Level CAD Templates

2012 ◽  
Vol 134 (12) ◽  
Author(s):  
Mehdi Tarkian ◽  
Johan Persson ◽  
Johan Ölvander ◽  
Xiaolong Feng
Keyword(s):  
Design Optimization ◽  
Computer Aided Design ◽  
Multidisciplinary Design Optimization ◽  
Industrial Robot ◽  
Geometric Model ◽  
Industrial Robots ◽  
Multidisciplinary Design ◽  
Strength Analysis ◽  
High Level ◽  
Aided Design

This paper presents a multidisciplinary design optimization (MDO) framework for automated design of a modular industrial robot. The developed design framework seamlessly integrates high level computer aided design (CAD) templates (HLCt) and physics based high fidelity models for automated geometry manipulation, dynamic simulation, and structural strength analysis. In the developed framework, methods such as surrogate models and multilevel optimization are employed in order to speed up the design optimization process. This work demonstrates how a parametric geometric model, based on the concept of HLCt, enables a multidisciplinary framework for multi-objective optimization of a modular industrial robot, which constitutes an example of a complex heterogeneous system.

Metamodel Based Design Automation: Applied on Multidisciplinary Design Optimization of Industrial Robots

2012 ◽  
Author(s):  
Mehdi Tarkian ◽  
Bhanoday Vemula ◽  
Xiaolong Feng ◽  
Johan Ölvander
Keyword(s):  
Design Optimization ◽  
Design Automation ◽  
Multidisciplinary Design Optimization ◽  
Industrial Robots ◽  
Multidisciplinary Design ◽  
Proof Of Concept ◽  
Optimization Strategy ◽  
Concept Generation ◽  
Multi Level ◽  
High Level

Intricate and complex dependencies between multiple disciplines require iterative intensive optimization processes. To this end, multidisciplinary design optimization (MDO) has been established as a convincing concurrent technique to manage inherited complexities. This paper presents a high level CAD and CAE design automation methodology which enables fast, efficient concept generation for MDO. To increase the evaluation speed, global metamodels are introduced to replace computationally expensive CAD and CAE models. In addition, various techniques are applied to drastically decrease the number of samplings required to create the metamodels. In the final part of the paper, a multi-level optimization strategy is proposed to find the optimal concept. As proof of concept, a real world design problem, from ABB industrial robotics, is presented.

Multidisciplinary Design Optimization of Modular Industrial Robots

2011 ◽  
Author(s):  
Mehdi Tarkian ◽  
Johan Persson ◽  
Johan O¨lvander ◽  
Xiaolong Feng
Keyword(s):  
Design Optimization ◽  
Multidisciplinary Design Optimization ◽  
Structural Strength ◽  
Computational Cost ◽  
Industrial Robots ◽  
Multidisciplinary Design ◽  
Geometry Model ◽  
Optimization Framework ◽  
Speed Up ◽  
Multi Level

This paper presents a multidisciplinary design optimization framework for modular industrial robots. An automated design framework, containing physics based high fidelity models for dynamic simulation and structural strength analyses are utilized and seamlessly integrated with a geometry model. The proposed framework utilizes well-established methods such as metamodeling and multi-level optimization in order to speed up the design optimization process. The contribution of the paper is to show that by applying a merger of well-established methods, the computational cost can be cut significantly, enabling search for truly novel concepts.

A Multidisciplinary Design Optimization Approach to Relating Affordability and Performance in a Conceptual Submarine Design

2010 ◽  
Vol 26 (04) ◽  
pp. 273-289 ◽  
Author(s):  
N. Vlahopoulos ◽  
C. G. Hart
Keyword(s):  
Design Optimization ◽  
Multidisciplinary Design Optimization ◽  
Geometric Model ◽  
Multidisciplinary Optimization ◽  
System Level ◽  
Multidisciplinary Design ◽  
Manufacturing Cost ◽  
Optimization Approach ◽  
And Performance ◽  
The Impact

A multidisciplinary design optimization (MDO) framework is used for a conceptual submarine design study. Four discipline-level performances—internal deck area, powering, maneuvering, and structural analysis—are optimized simultaneously. The four discipline-level optimizations are driven by a system level optimization that minimizes the manufacturing cost while at the same time coordinates the exchange of information and the interaction among the discipline-level optimizations. Thus, the interaction among individual optimizations is captured along with the impact of the physical characteristics of the design on the manufacturing cost. A geometric model for the internal deck area of a submarine is created, and resistance, structural design, and maneuvering models are adapted from theoretical information available in the literature. These models are employed as simulation drivers in the discipline-level optimizations. Commercial cost-estimating software is leveraged to create a sophisticated, automated affordability model for the fabrication of a submarine pressure hull at the system level. First, each one of the four discipline optimizations and also the cost-related top level optimization are performed independently. As expected, five different design configurations result, one from each analysis. These results represent the "best" solution from each individual discipline optimization, and they are used as reference for comparison with the MDO solution. The deck area, resistance, structural, maneuvering, and affordability models are then synthesized into a multidisciplinary optimization statement reflecting a conceptual submarine design problem. The results from this coordinated MDO capture the interaction among disciplines and demonstrate the value that the MDO system offers in consolidating the results to a single design that improves the discipline-level objective functions while at the same time produces the highest possible improvement at the system level.

Computer-Aided Design of Mechatronic Systems Using Multiobjective Optimization and Object-Oriented Languages

2012 ◽  
Author(s):  
Didier Casner ◽  
Jean Renaud ◽  
Dominique Knittel
Keyword(s):  
Computer Aided Design ◽  
Multidisciplinary Design Optimization ◽  
Object Oriented ◽  
Object Oriented Programming ◽  
Multidisciplinary Design ◽  
Modeling Language ◽  
Mechatronic Systems ◽  
Aided Design ◽  
Object Oriented Languages ◽  
Oriented Programming Language

This paper deals with the fast modeling and fast multiobjective optimal design of mechatronic systems. To solve this problem, the object-oriented modeling language Modelica and object-oriented programming language Java have been used to build an innovate software platform. This platform has been designed to allow multidisciplinary design optimization of complex systems using a free platform. This platform only contains open-source tools and frameworks and was validated on an optimization application: the stabilization of a quarter-car system.

Industrial robot path planning in a constraint-based computer-aided design and kinematic analysis environment

2009 ◽  
Vol 223 (5) ◽  
pp. 523-533 ◽  
Author(s):  
G-C Vosniakos ◽  
A Chronopoulos
Keyword(s):  
Computer Aided Design ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Constrained Motion ◽  
Virtual Objects ◽  
Computer Aided ◽  
Point Motion ◽  
Point To Point ◽  
Aided Design ◽  
Active Joints

Paths of industrial robots are easier to plan by using constraints on accurate computer-aided design (CAD) models of both objects representing the real industrial robotic cell and virtual objects representing the auxiliary geometry that is necessary to define path points. The motion path normally needs to be split into segments possessing uniform characteristics, e.g. common active joints, at points usually corresponding to position or velocity extremes. Each segment corresponds either to point-to-point motion or to constrained motion. Point-to-point motion is implemented by interpolating between original and final position of each joint separately, positions being determined through inverse kinematics in the CAD environment and motion being imparted to each joint directly. Constrained motion may be defined using several alternatives materialized with stationary and moving virtual objects, real robot joints, virtual joints, contact constraints, and motion constraints. Motion duration is specified after the corresponding path geometry has been specified, by exploiting maximum active joints velocity as well as end-tool velocity as dictated by the process. Collisions are detected using available functionality and are alleviated interactively. A user-defined number of interpolated robot poses are generated per segment. These are all ‘sewn’ together at the motion synthesis stage and frame-based simulation is generated. A realistic robotic lathe loading/unloading example is used to verify the use of the above notions and tools.

Multidisciplinary Design Optimization of Link Mechanisms by Combining Decomposition and Mini-Max Relaxation

2000 ◽  
Author(s):  
Kikuo Fujita ◽  
Noriyasu Hirokawa ◽  
Masafumi Inoue
Keyword(s):  
Design Optimization ◽  
Design Problem ◽  
Multidisciplinary Design Optimization ◽  
Beam Theory ◽  
Coupled System ◽  
Optimization Method ◽  
Multidisciplinary Design ◽  
Strength Analysis ◽  
Link Mechanism ◽  
Conventional Optimization

Abstract This paper proposes an efficiency improvement method for the multidisciplinary design optimization of link mechanisms. While behavior of a link mechanism is dominated by kinematic relationships, it is restricted under various other conditions such as structural strength, etc. Thus, the design problem of a link mechanism is obviously multidisciplinary. Further, since the motion of a link mechanism is sequentially time-dependent, the optimization problem can be formulated as a mini-max type one. Under these characteristics, this paper proposes a design optimization method of link mechanisms by combining non-hierarchic coupled system decomposition and mini-max relaxation. Then, after the multidisciplinary design problem of a link mechanism used in hydraulic shovels is modeled and formulated based on skeleton based kinematic analysis and beam-theory based strength analysis, its design optimization with the proposed method is demonstrated. The numerical results show more than about four times of speedup and robust performance as compared with a conventional optimization method.

Designing of Outriggers for the Needs of the Vehicles Stability Testing

2018 ◽  
Vol 875 ◽  
pp. 71-76
Author(s):  
Victor Kryaskov ◽  
Andrey Vashurin ◽  
Anton Tumasov ◽  
Alexey Vasiliev
Keyword(s):  
Coefficient Of Friction ◽  
Computer Aided Design ◽  
Strength Analysis ◽  
Direct Impact ◽  
Stability Testing ◽  
Supporting Surface ◽  
Stability Tests ◽  
Computer Aided ◽  
Aided Design

This paper is dedicated to the issues of designing of outriggers for avoidance of vehicle tilting during its stability tests. An analysis of existing types of outriggers was done by authors as well as legislative requirements on them. The reliable and well-timed operation of outriggers largely depends on the height of their positioning on a vehicle. In order to determine this important parameter a special methodic of determining the tipping angle of the vehicle with the use of computer-aided design (CAD) was composed by authors. The article also contains some main principles of strength analysis of the structure a very important part of which became the necessity of determination of coefficient of friction between the outrigger sliders and the supporting surface. This coefficient has a direct impact on the value of transverse forces appearing at the ends of outrigger beams.

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