Design optimization on the drive train of a light-weight robotic arm |
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Authors: | Lelai Zhou Shaoping Bai Michael Rygaard Hansen |
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Affiliation: | a Department of Mechanical and Manufacturing Engineering, Aalborg University, Pontoppidanstræde 103, 9220 Aalborg, Denmark;b Department of Engineering, University of Agder, Grooseveien 36, 4876 Grimstad, Norway |
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Abstract: | A drive train optimization method for design of light-weight robots is proposed. Optimal selections of 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 ratio, 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. |
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Keywords: | Drive train optimization Discrete design variables Light-weight robot Complex method |
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