Automated Design of an Industrial Robot Family

2009 ◽  
Author(s):  
Clemens Mandl ◽  
Xiaolong Feng ◽  
Johan O¨lvander
Keyword(s):  
Design Optimization ◽  
Optimization Problem ◽  
Industrial Robot ◽  
Automated Design ◽  
Design Tool ◽  
Dynamics Simulation ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
3D Design ◽  
Mixed Variable

In this work, a methodology and an integrated tool framework has been developed for automated design of an industrial robot family consisting of four robot members. For each robot, performance requirements concerning payloads, reaches, and time performances are specified. A 3D design tool, namely SolidWorks, has been integrated with robot kinematics and dynamics simulation tools for simultaneous kinematics and dynamics design. A motor library comprising both geometric data and physical data has also been integrated in the tool framework. The automated design of the robot family has been formulated as a multi-objective and mixed variable design optimization problem. The arm modules are treated as continuous design variables while the motors are treated as discrete variables. Due to the characteristics of this mixed variable design optimization problem a genetic algorithm (GA) has been used. This work has successfully demonstrated the feasibility for achieving automatic design of an industrial robot family.

scholarly journals Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Hong Jun Li ◽  
Wei Jiang ◽  
Yu Yan ◽  
An Zhang ◽  
Gan Zuo
Keyword(s):  
Transmission Lines ◽  
Simulation Analysis ◽  
Dynamics Simulation ◽  
Mobile Platform ◽  
Robot Kinematics ◽  
Kinematics And Dynamics ◽  
Joint Force ◽  
Dynamic Constraints ◽  
Working Space ◽  
Physical Prototype

In response to the problems of high labor intensity, high risk, and poor reliability of artificial live working, a four-wheel-driven spacer bar replacement mobile operation robot has been designed and developed in this paper, and the corresponding kinematic and dynamics model have been established, based on the established double models, the kinematics and dynamics numerical analysis can be realized through INVENTOR and ADAMS, respectively, based on the established kinematics and dynamics models . The results show that the simulation value of the robot joint displacement, velocity, acceleration, and joint force can be able to meet the requirements of kinematic and dynamic constraints during the robot operation. The robot prototype can meet the requirement of dual-split robot working space and the operation joint force control, which not only extend the robot adaptability to the multisplit lines heterogeneous operation environment but also provide an important theoretical technical support for the exploit of the robot physical prototype. Through the robot kinematics and dynamics analysis, the robot mechanical structure parameters and electrical control parameters have been effectively optimized. The weight and cost of the robot have been reduced by 12% and 15% compared to the existed studies. Finally, the robot principle prototype mobile platform has been developed, and the correctness of robot kinematics and dynamics simulation analysis has been verified through the robot principle prototype mobile platform.

A Marine Turbocharger Compressor Multi-Point 3D Design Optimization Tool

2021 ◽  
Author(s):  
Konstantinos Ntonas ◽  
Nikolaos Aretakis ◽  
Konstantinos Mathioudakis
Keyword(s):  
Diesel Engine ◽  
Design Optimization ◽  
Structural Integrity ◽  
Engine Performance ◽  
Design Tool ◽  
Optimization Process ◽  
3D Design ◽  
Element Analysis ◽  
Turbocharged Diesel Engine ◽  
Compressor Design

Abstract A marine turbocharger 3D compressor design tool, implemented on an existing marine turbocharger retrofit platform is presented. It produces 3D centrifugal compressor geometry for optimal compressor retrofit. It encompasses two modules, allowing the design process to become fully automatic. First, a 1D compressor multi-point design optimization process is carried out, aiming to provide a fast and reliable solution based on Turbocharged diesel Engine range of operation. Structural integrity is ensured by using simplified structural analysis. Dimensionless parameters are used as optimization variables, for a given nominal compressor mass flow and power. Then a CFD compressor multi-point design optimization process is carried out, producing optimized 3D compressor geometry. It complies with the Turbocharged diesel Engine range of operation, while structural integrity is ensured by using Finite Element analysis. A turbocharger compressor design case study is presented. First, a turbocharger 1D compressor design is carried out, aiming to at least reconstituting the original diesel engine performance. This first module provides a reliable compressor initial geometry for the 3D design module. A fully 3D compressor design is then performed, using a CFD-FEA optimization process, in order to provide an improved retrofitting solution. Comparison between the multi-point and the traditional one-point design method, shows that the multi-point method provides a wider SFC reduction in the range that the Diesel engine normally operates.

Automated Design Optimization for Hypersonic Plasma-Aerodynamics

2005 ◽  
Author(s):  
Ramakanth Munipalli ◽  
Kamesh Subbarao ◽  
Shashi Aithal ◽  
Donald R. Wilson ◽  
Jennifer D. Goss
Keyword(s):  
Design Optimization ◽  
Automated Design ◽  
Plasma Aerodynamics

scholarly journals Optimal Design of Industrial Robot Kinematics Algorithm

2020 ◽  
Vol 1624 ◽  
pp. 042029
Author(s):  
Dongkang He ◽  
Fangping Liu ◽  
Fuchun Wang
Keyword(s):  
Optimal Design ◽  
Industrial Robot ◽  
Robot Kinematics

Study on Engine Kinematics and Dynamics Simulation Based on COSMOSMotion

2012 ◽  
Vol 503-504 ◽  
pp. 731-734
Author(s):  
Xiao Xu Liu ◽  
Min Chen ◽  
Ai Hua Tang
Keyword(s):  
Virtual Prototype ◽  
Dynamics Simulation ◽  
Kinematics And Dynamics ◽  
Engine Model ◽  
Kinematics Simulation ◽  
Simulation Based ◽  
Calculation Results ◽  
Simulation Results ◽  
Dynamics Simulations

The engine model with 4 cylinders is built by SolidWorks, the kinematics and dynamics simulations of the engine virtual prototype are done by COSMOSMotion, the results of kinematics simulation are checked, there are very small errors between the simulation results and the calculation results according to formulas. The mainly results of dynamics simulation are given. The simulation result consists with the parameters of the engine.

Adaptive Complex Method for Efficient Design Optimization

2007 ◽  
Author(s):  
Marcus Pettersson ◽  
Johan O¨lvander
Keyword(s):  
Design Optimization ◽  
Optimization Problem ◽  
Global Optimum ◽  
Direct Search ◽  
Complex Method ◽  
Efficient Design ◽  
Direct Search Methods ◽  
Simulation Based ◽  
Set Of Points ◽  
Quasi Newton

Box’s Complex method for direct search has shown promise when applied to simulation based optimization. In direct search methods, like Box’s Complex method, the search starts with a set of points, where each point is a solution to the optimization problem. In the Complex method the number of points must be at least one plus the number of variables. However, in order to avoid premature termination and increase the likelihood of finding the global optimum more points are often used at the expense of the required number of evaluations. The idea in this paper is to gradually remove points during the optimization in order to achieve an adaptive Complex method for more efficient design optimization. The proposed method shows encouraging results when compared to the Complex method with fix number of points and a quasi-Newton method.

Optimization design of drive system for industrial robots based on dynamic performance

2017 ◽  
Vol 44 (6) ◽  
pp. 765-775 ◽  
Author(s):  
LianZheng Ge ◽  
Jian Chen ◽  
Ruifeng Li ◽  
Peidong Liang
Keyword(s):  
Optimization Model ◽  
Optimization Problem ◽  
Industrial Robot ◽  
Dynamic Performance ◽  
System Optimization ◽  
Drive System ◽  
Industrial Robots ◽  
Mixed Integer ◽  
Light Weight ◽  
Content Type

Purpose The global performance of industrial robots partly depends on the properties of drive system consisting of motor inertia, gearbox inertia, etc. This paper aims to deal with the problem of optimization of global dynamic performance for robotic drive system selected from available components. Design/methodology/approach Considering the performance specifications of drive system, an optimization model whose objective function is composed of working efficiency and natural frequency of robots is proposed. Meanwhile, constraints including the rated and peak torque of motor, lifetime of gearbox and light-weight were taken into account. Furthermore, the mapping relationship between discrete optimal design variables and component properties of drive system were presented. The optimization problem with mixed integer variables was solved by a mixed integer-laplace crossover power mutation algorithm. Findings The optimization results show that our optimization model and methods are applicable, and the performances are also greatly promoted without sacrificing any constraints of drive system. Besides, the model fits the overall performance well with respect to light-weight ratio, safety, cost reduction and others. Practical implications The proposed drive system optimization method has been used for a 4-DOF palletizing robot, which has been largely manufactured in a factory. Originality/value This paper focuses on how the simulation-based optimization can be used for the purpose of generating trade-offs between cost, performance and lifetime when designing robotic drive system. An applicable optimization model and method are proposed to handle the dynamic performance optimization problem of a drive system for industrial robot.

scholarly journals Structural reliability under uncertainty in moments: distributionally-robust reliability-based design optimization

2021 ◽  
Author(s):  
Yoshihiro Kanno
Keyword(s):  
Design Optimization ◽  
Optimization Problem ◽  
Structural Reliability ◽  
Reliability Based Design Optimization ◽  
Input Distribution ◽  
Reliability Based Design ◽  
Optimal Value ◽  
Reliability Constraint ◽  
Distributionally Robust ◽  
Robust Reliability

AbstractThis study considers structural optimization under a reliability constraint, in which the input distribution is only partially known. Specifically, when it is only known that the expected value vector and the variance-covariance matrix of the input distribution belong to a given convex set, it is required that the failure probability of a structure should be no greater than a specified target value for any realization of the input distribution. We demonstrate that this distributionally-robust reliability constraint can be reduced equivalently to deterministic constraints. By using this reduction, we can handle a reliability-based design optimization problem under the distributionally-robust reliability constraint within the framework of deterministic optimization; in particular, nonlinear semidefinite programming. Two numerical examples are solved to demonstrate the relation between the optimal value and either the target reliability or the uncertainty magnitude.

An automated design tool for analog layouts

2006 ◽  
Vol 14 (8) ◽  
pp. 881-894 ◽  
Author(s):  
Lihong Zhang ◽  
U. Kleine ◽  
Yingtao Jiang
Keyword(s):  
Automated Design ◽  
Design Tool
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