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.
| Original language | English |
|---|---|
| Journal | Mechatronics |
| Volume | 21 |
| Issue number | 3 |
| Pages (from-to) | 560-569 |
| Number of pages | 10 |
| ISSN | 0957-4158 |
| DOIs | |
| Publication status | Published - Apr 2011 |
Keywords
- Drive train optimization
- Discrete design variables
- Light-weight robot
- Complex method