scholarly journals Design Optimization of Robot Arm for Transferring Glass Using Strength Analysis

2016 ◽  
Keyword(s):  
Design Optimization ◽  
Strength Analysis ◽  
Robot Arm

Robot Path Planning and Obstacle Avoidance: A Design Optimization Approach

1989 ◽  
Author(s):  
E. Sandgren ◽  
S. Venkataraman
Keyword(s):  
Path Planning ◽  
Design Optimization ◽  
Dynamic Programming Algorithm ◽  
Three Dimensional ◽  
Programming Algorithm ◽  
Optimization Approach ◽  
Robot Arm ◽  
Robot Path Planning ◽  
Real Time Control ◽  
Robot Path

Abstract A design optimization approach to robot path planning in a two dimensional workplace is presented. Obstacles are represented as a series of rectangular regions and collision detection is performed by an operation similar to clipping in computer graphics. The feasible design space is approximated by a discrete set of robot arm and gripper positions. Control is applied directly through the angular motion of each link. Feasible positions which are located between the initial and final robot link positions are grouped into stages. A dynamic programming algorithm is applied to locate the best state within each stage which minimizes the overall path length. An example is presented involving a three link planar manipulator. Extensions to three dimensional robot path planning and real time control in a dynamically changing workplace are discussed.

scholarly journals Shape Design Optimization of a Robot Arm Using a Surrogate-Based Evolutionary Approach

2020 ◽  
Vol 10 (7) ◽  
pp. 2223 ◽  
Author(s):  
J. C. Hsiao ◽  
Kumar Shivam ◽  
C. L. Chou ◽  
T. Y. Kam
Keyword(s):  
Design Optimization ◽  
Optimization Problems ◽  
Computational Cost ◽  
Shape Design ◽  
Optimization Approach ◽  
Robot Arm ◽  
Shape Design Optimization ◽  
Robot Arms ◽  
Conflicting Objectives ◽  
Computer Aided

In the design optimization of robot arms, the use of simulation technologies for modeling and optimizing the objective functions is still challenging. The difficulty is not only associated with the large computational cost of high-fidelity structural simulations but also linked to the reasonable compromise between the multiple conflicting objectives of robot arms. In this paper we propose a surrogate-based evolutionary optimization (SBEO) method via a global optimization approach, which incorporates the response surface method (RSM) and multi-objective evolutionary algorithm by decomposition (the differential evolution (DE ) variant) (MOEA/D-DE) to tackle the shape design optimization problem of robot arms for achieving high speed performance. The computer-aided engineering (CAE) tools such as CAE solvers, computer-aided design (CAD) Inventor, and finite element method (FEM) ANSYS are first used to produce the design and assess the performance of the robot arm. The surrogate model constructed on the basis of Box–Behnken design is then used in the MOEA/D-DE, which includes the process of selection, recombination, and mutation, to optimize the robot arm. The performance of the optimized robot arm is compared with the baseline one to validate the correctness and effectiveness of the proposed method. The results obtained for the adopted example show that the proposed method can not only significantly improve the robot arm performance and save computational cost but may also be deployed to solve other complex design optimization problems.

Early-Stage Design of Robotic Manipulator Using Dual Visual Perception

2014 ◽  
Vol 611 ◽  
pp. 316-324
Author(s):  
Juraj Šarloši ◽  
Róbert Surovec ◽  
Ondrej Šimko ◽  
Jaromír Jezný ◽  
Ladislav Vargovčík ◽  
...  
Keyword(s):  
Visual Perception ◽  
Early Stage ◽  
Robotic Manipulator ◽  
Euler Method ◽  
Strength Analysis ◽  
Robot Arm ◽  
Stage Design ◽  
Surrounding Environment ◽  
Homogeneous Matrix ◽  
Early Stage Design

Many service mobile robots have an articulated robotic manipulator mounted on their platform. The mobile platform extends the workspace of the arm, whereas the arm offers several operational functionalities. The basic idea is to mount two cameras to the robotic arm. One camera provides the perception of the surrounding environment and navigation of the robot, the second one located on the robot arm provides for the perception of the object of cooperation. This paper deals with an early-stage design process of the mentioned robotic manipulator using dual visual perception. It includes kinematic, dynamic and stress-strength analysis. For the kinematic analysis the homogeneous matrix method and for dynamic analysis the Newton-Euler method has been used. These analyses are required for control solution.

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.

A New Approach to Design of a Lightweight Anthropomorphic Arm for Service Applications

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Lelai Zhou ◽  
Shaoping Bai
Keyword(s):  
Design Optimization ◽  
Integrated Design ◽  
Robot Kinematics ◽  
Strength Analysis ◽  
Optimization Approach ◽  
Element Analysis ◽  
New Approach ◽  
Design Variables ◽  
Kinematic Performance ◽  
Service Application

This paper describes a new approach to the design of a lightweight robotic arm for service applications. A major design objective is to achieve a lightweight robot with desired kinematic performance and compliance. This is accomplished by an integrated design optimization approach, where robot kinematics, dynamics, drive-train design and strength analysis by means of finite element analysis (FEA) are generally considered. In this approach, kinematic dimensions, structural dimensions, and the motors and the gearboxes are parameterized as design variables. Constraints are formulated on the basis of kinematic performance, dynamic requirements and structural strength limitations, whereas the main objective is to minimize the weight. The design optimization of a five degree-of-freedom (dof) lightweight arm is demonstrated and the robot development for service application is also presented.

scholarly journals A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique

Robotics ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 1
Author(s):  
Omar W. Maaroof ◽  
Mehmet İsmet Can Dede ◽  
Levent Aydin
Keyword(s):  
Design Optimization ◽  
Mechanical Design ◽  
Optimization Method ◽  
Robot Arm ◽  
Redundancy Resolution ◽  
Redundant Robots ◽  
Virtual Joints ◽  
Self Motion

Redundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.

Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules

2020 ◽  
Vol 12 (3) ◽  
Author(s):  
Vu Linh Nguyen ◽  
Chyi-Yeu Lin ◽  
Chin-Hsing Kuo
Keyword(s):  
Design Optimization ◽  
Power Loss ◽  
High Performance ◽  
Reduction Rate ◽  
Analytical Approximation ◽  
Gravitational Energy ◽  
Gravity Compensation ◽  
Robot Arm ◽  
Robotic Arms ◽  
Gear Contact

Abstract This paper presents a design concept for gravity compensation of planar articulated robotic arms using a series of gear-slider mechanisms with springs. The spring-attached gear-slider mechanism has one degree-of-freedom (DOF) of motion, which can serve as a gear-spring module (GSM) to be installed onto the robot joints for leveraging the gravitational energy of the robot arm. The proposing GSM-based design is featured by its structure compactness, less assemblage effort, ease of modularization, and high performance for gravity compensation of articulated robotic manipulators. As a key part of the design, the stiffness of the spring in the GSM can be determined through either a design optimization or an analytical approximation to perfect balancing. The analyses on several 1-, 2-, and 3-DOF GSM-based robot arms illustrate that the analytical approximation to perfect balancing can reach nearly the same performance as provided through the design optimization. The power loss due to the gear contact is considered when evaluating the gravity compensation performance. A formula for spring stiffness correction is suggested for taking the power loss into account. An experimental study on a one-DOF GSM-based robot arm was performed, which shows that a power reduction rate of 86.5% is attained by the actuation motor when the GSM is installed on the robot arm.

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