مقاله Design optimization on the drive train of a light-weight robotic arm : تی پی بین

خلاصه مقاله

A drive train optimization method for design of light-weight robots is proposed. Optimal selectionsof motors and gearboxes from a limited catalog of commercially available components are done simultaneously for all joints of a robotic arm. Characteristics of the motor and gearbox, including gear rati, gear inertia, motor inertia, and gear efficiency, are considered in the drive train modeling. A co-simulation method is developed for dynamic simulation of the arm. A design example is included to demonstrate the proposed design optimization method.

نویسندگان

Lelai Zhou [ Department of Mechanical and Manufacturing Engineering, Aalborg University, Pontoppidanstræde 103, 9220 Aalborg, Denmark ]

Shaoping Bai [ Department of Mechanical and Manufacturing Engineering, Aalborg University, Pontoppidanstræde 103, 9220 Aalborg, Denmark ]

Michael Rygaard Hansen [ Department of Engineering, University of Agder, Grooseveien 36, 4876 Grimstad, Norway ]

کلمات کلیدی

Drive train optimization Discrete design variables Light weight robot Complex method

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مشاهده مقالات

Mechatronics 2011

The Science of Intelligent Machines Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence.

حوزه های تحت پوشش : mechanical engineering , electronic control , systems thinking