Performance Investigation of Topologically Optimized Manipulator Link
DOI:
https://doi.org/10.51983/ajeat-2014.3.2.720Keywords:
Robotic/Manipulator-link, Mass reduction, Joint-Torque reduction, Topology optimization, SIMPAbstract
Reducing weight of components in a manipulator is the need of robotic industry, not only to save cost by reducing the material but also to optimize the power consumption. Hence, topology optimization of manipulator links has wider scope to research and deliver the best possible solutions to design a system. The paper focus on investigating the performance of the link using topology optimization and dynamic modeling. In this work, topology optimization is utilized to generate optimum shape and size of link, finite element approach is adopted in finding the inertia of the given body, deflection with stress and followed by kinematic modeling. Further trajectory planning is done and Lagrange-Euler formulation is applied to find out required joint-torque values for each increment of motion.
References
V. Feliu, F. Ramos, "Strain gauge based control of single-link flexible very lightweight robots robust to payload changes," Mechatronics, vol. 15, pp. 547–571, 2005.
J.P. Merlet, Parallel Robots, 2nd ed. Dordrecht, The Netherlands: Springer, 2006.
A. Albu-Schaffer et al., "The DLR lightweight robot: Design and control concepts for robots in human environments," Ind. Robot Int. J., vol. 34, pp. 376–385, 2007.
U. Hagn et al., "The DLR MIRO: A versatile lightweight robot for surgical applications," Ind. Robot: Int. J., vol. 35, pp. 324–336, 2008.
Y. Samer, M. Mahmoud, A. F. Haider, "Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator," Sensors (Basel), vol. 12, pp. 6869–6892, 2012.
M. P. Bendsøe and N. Kikuchi, "Generating Optimal Topologies in Structural Design using a Homogenization Method," Computer Methods in Applied Mechanics and Engineering, vol. 71, pp. 197-224, 1988.
M. P. Bendsøe and O. Sigmund, Topology Optimization: Theory, Methods and Applications, Berlin, Germany: Springer, 2003, pp. 2-68.
R. K. Mittal and I. J. Nagrath, Robotics and Control, New Delhi: Tata McGraw Hill, 2003, ch. 1-4.
A. Javed, B. K. Rout, "Tolerance range section of topologically optimized structure using combined array design of experiments approach," Proceedings of the Institution of Mechanical Engineers, Part C: J. of Mech. Engg. Science, vol. 227, pp. 2023–2038, 2013.
A. Javed, B. K. Rout, "Investigation on parametric sensitivity of topologically optimized structures," Proceedings of the Institution of Mechanical Engineers, Part C: J. of Mech. Engg. Science, vol. 226, pp. 2791-2804, 2012.
A. Javed, B. K. Rout, "Parametric Sensitivity of Topologically Optimized Structures using RBTO Technique," in Proceedings of Third Asian Conference on Mechanics of Functional Materials and Structures (ACMFMS 2012), Indian Institute of Technology, Delhi, India, December 5-8, 2012, pp. 252-255.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2014 The Research Publication
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
