Dynamic optimization of robot arm based on flexible multi-body model

Liang, Mingxuan; Wang, Binrui; Yan, Tianhong

doi:10.1007/s12206-017-0717-9

Cited by 31 publications

(10 citation statements)

References 15 publications

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“…Autonomous robots can replace humans to complete some service work, thereby freeing humans from labor to do more meaningful things [4,5]. e robotic arm, as the execution mechanism of the autonomous robot, also has the characteristics of high operational accuracy and continuous work, which can reduce people's labor intensity and improve labor productivity [6,7]. e continuous advancement of science and technology and the improvement of people's living standards promote the continuous development and improvement of autonomous robot technology [8,9].…”

Section: Introductionmentioning

confidence: 99%

Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

Cai

Deng

Zhang

et al. 2021

Mobile Information Systems

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With the continuous development of science and technology, robotics is widely used in various fields. In recent years, more and more research studies have been done on the control of autonomous robotic manipulators. How to quickly, accurately, and smoothly grasp objects has always been a difficult point of research. As the robot’s executive mechanism, the robot arm plays an important role in whether the robot can complete a specific task. Therefore, the research on the robot arm is also the main topic in the development of robot technology. The control theory, kinematics, and human-computer interaction of robotic arms are the focus of the research in the field of robotic arms. Based on the above background, the research content of this paper is the research on the modeling method of autonomous robotic manipulator based on D-H algorithm. This paper uses D-H modeling method to model a four-degree-of-freedom robotic arm and gives the forward kinematics equation of the robotic arm. The inverse solution of the manipulator was given by the method and the geometric method, and the joint variable values were calculated. Finally, through experimental simulation, the experimental results show that the inverse solution of the end position of the machine by the geometric method is in the range of 2∼4 mm, and the inverse solution of the end position of the machine by the algebraic method is in the range of 6∼14 mm. It is more accurate to find the inverse solution of the geometrical method of the manipulator than the algebraic method.

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Section: Introductionmentioning

confidence: 99%

Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

Cai

Deng

Zhang

et al. 2021

Mobile Information Systems

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“…A few structural components of the 22 DOF humanoid were optimized for at least 30% reduction in mass experimentally by means of topology [26][27][28]. Further, the hydride multibody system, simulation analysis, and topology optimization approach was selected flexible bodies, objective function kept as maximization of mechanical stiffness and minimization of mass at least 15% [29][30][31][32]. Industrial serial robots of 6 DOF were optimized by multi-objective topology method for reduction of weight 7.1%, the applied load was analyzed dynamically, and this study was carried out by considering worst-cases of applied force [33,34].…”

Section: Topology Optimizationmentioning

confidence: 99%

A Review on Optimization Methods to Enhance Energy Efficiency of Robots

Srinivas¹,

Mane²,

Javed³

2019

EasyChair Preprints

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The aim of this paper is to make available of a comprehensive review and to provide a reference of existing methodologies developed for enhancing of the energy efficiency of robots. In the present scenario of increased application of robots, the huge energy consumption is also being predicted. One of the possible solutions for energy consumption can be in terms of developing energy efficient robots. In the domain of energy efficient robot, different attempts are made in past, such as use of lightweight material, analysis of speed, identification of the least energy consuming trajectories and reduction of components weight by topology optimization, etc. The available methodologies to reduce the energy consumption of industrial robots are classified into two groups. The first group comprises of the different attempts of energy efficiency through trajectory optimization of the manipulator. Here, the energy required to perform a particular task is considered. The path is then optimized for minimum power consumption of the motors. This approach is applicable to task-specific cycles. The second group comprises the application of topology optimization method. Topology optimization approach is developed in the last decade and proved to be a promising approach for minimization of the mass of a structural member of machine component. Presented work will be helpful to understand the advancement in this domain.

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“…The minimum of deformation energy is taken as optimal target, and the material volume of the continuous structure is taken as the constraint (the total mass constraint). The mathematical model of topological optimization can be expressed as 12 Find…”

Section: Topology Optimization Under Multiple Loadsmentioning

confidence: 99%

Topology optimization of transmission gearbox under multiple working loads

Liang

Liu³

et al. 2018

Advances in Mechanical Engineering

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This article is concerned with topology optimization of transmission gearbox under multiple working loads by taking dynamic performance as research object. First, the dynamic excitation model and finite element model are established, the vibration responses of the key points on gearbox are obtained by applying dynamic excitation on finite element model based on modal dynamic method, and the simulation responses are compared with testing results to validate finite element model. Finally, the gearbox structure is optimized by utilizing topology optimization method, and the lightweight model of transmission gearbox structure is redesigned. The dynamic performance indexes such as natural frequency are improved obviously, which indicates that the topology optimization method is very effective in optimizing dynamic performance of complex gearbox structure. The research has an important theoretical significance and reference value for lightweight design of transmission gearbox structure.

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Dynamic optimization of robot arm based on flexible multi-body model

Cited by 31 publications

References 15 publications

Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

A Review on Optimization Methods to Enhance Energy Efficiency of Robots

Topology optimization of transmission gearbox under multiple working loads

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