Abstract
An integrated dimensional and drive train optimization
method was developed for light-weight robotic arm
design. The method deals with the determination of optimal
link lengths and the optimal selection of motors and gearboxes
from commercially available components. Constraints are formulated
on the basis of kinematic performance and dynamic
requirements, whereas the main objective is to minimize the
weight. The design of a human-like arm, which is 10 kg in
weight with a load capacity of 5 kg, is described.
method was developed for light-weight robotic arm
design. The method deals with the determination of optimal
link lengths and the optimal selection of motors and gearboxes
from commercially available components. Constraints are formulated
on the basis of kinematic performance and dynamic
requirements, whereas the main objective is to minimize the
weight. The design of a human-like arm, which is 10 kg in
weight with a load capacity of 5 kg, is described.
Original language | English |
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Title of host publication | 15th International Conference on advanced Robotics (ICAR), 2011 |
Number of pages | 6 |
Publisher | IEEE |
Publication date | 20 Jun 2011 |
Pages | 659-664 |
ISBN (Print) | 978-1-4577-1158-9 |
Publication status | Published - 20 Jun 2011 |
Event | IEEE 15th International Conference on Advanced Robotics - Tallinn, Estonia Duration: 20 Jun 2011 → 23 Jun 2011 |
Conference
Conference | IEEE 15th International Conference on Advanced Robotics |
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Country/Territory | Estonia |
City | Tallinn |
Period | 20/06/2011 → 23/06/2011 |