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Methods for Discrete Design Optimization
Linköpings universitet, Institutionen för ekonomisk och industriell utveckling, Maskinkonstruktion. Linköpings universitet, Tekniska högskolan.
Linköpings universitet, Institutionen för ekonomisk och industriell utveckling, Maskinkonstruktion. Linköpings universitet, Tekniska högskolan.
Linköpings universitet, Institutionen för ekonomisk och industriell utveckling, Maskinkonstruktion. Linköpings universitet, Tekniska högskolan.
2005 (Engelska)Ingår i: Proceedings of ASME 31st Design Automation Conference, September 24-28, Long Beach, USA, 2005Konferensbidrag, Publicerat paper (Övrigt vetenskapligt)
Abstract [en]

One area in design optimization is component based design where the designer has to choose between many different discrete alternatives. These types of problems have discrete character and in order to admit optimization an interpolation between the alternatives is often performed. However, in this paper a modified version of the non-gradient algorithm the Complex method is developed where no interpolation between alternatives is needed. Furthermore, the optimization algorithm itself is optimized using a performance metric that measures the effectiveness of the algorithm. In this way the optimal performance of the proposed discrete Complex method has been identified. Another important area in design optimization is the case of optimization based on simulations. For such problems no gradient information is available, hence non-gradient methods are therefore a natural choice. The application for this paper is the design of an industrial robot where the system performance is evaluated using comprehensive simulation models. The objective is to maximize performance with constraints on lifetime and cost, and the design variables are discrete choices of gear boxes for the different axes.

Ort, förlag, år, upplaga, sidor
2005.
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
URN: urn:nbn:se:liu:diva-13229OAI: oai:DiVA.org:liu-13229DiVA, id: diva2:18084
Tillgänglig från: 2008-04-28 Skapad: 2008-04-28 Senast uppdaterad: 2009-05-29
Ingår i avhandling
1. Design Optimization in Industrial Robotics: Methods and Algorithms for Drive Train Design
Öppna denna publikation i ny flik eller fönster >>Design Optimization in Industrial Robotics: Methods and Algorithms for Drive Train Design
2008 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

Robot manufacturers, like many other manufacturers, are experiencing increasing competition in a global market where one way to confront the challenge is by making the development process more efficient. One way to speed up the time to market for new products is to take advantage of design optimization based on simulation models. By optimizing performance with the help of dynamic simulation, an immense amount of both time and money may be saved.

In this thesis, design optimization strategies for industrial robot design are studied. Often, the trade-offs between performance, cost and quality are essential for design decisions. These tradeoffs can be investigated with the help of simulation models. Generating the trade-offs can be both cumbersome and time-consuming, but the process may be partly automated with the help of optimization algorithms. How the optimization problem needs to be formulated to generate the trade-off is discussed in this thesis.

Robot design problems usually consist of a mixture of deciding continuous parameters as well as selecting components from catalogs and databases. Hence, there is a need for optimization algorithms which can handle variables of both a discrete and a continuous nature. A new method has been developed to address this problem. The method has also been improved by adding adaptive characteristics for further efficient design optimization.

The ideas in this thesis have been applied to both simulation models of conceptual degrees of elaboration as well as simulation models of complete robot systems. An optimization procedure which shows how optimization can be used in the early phases of a development process is developed. The objective of the optimization is to determine optimal gearboxes and arm lengths from an acceleration capability perspective. An optimization based design method for robot drive trains is also presented. For further efficient use of already installed robots the concept of application adapted performance optimization is introduced. This means that the robot control is optimized with respect to thermal and fatigue load for the specific program that the robot performs. The motion program itself, i.e. the path planning, can be optimized at the same time in order to get the most out of the robot.

Ort, förlag, år, upplaga, sidor
Institutionen för ekonomisk och industriell utveckling, 2008. s. 81
Serie
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1170
Nyckelord
Robot manufacturers, industrial robot, robot design
Nationell ämneskategori
Annan elektroteknik och elektronik
Identifikatorer
urn:nbn:se:liu:diva-11664 (URN)978-91-7393-945-4 (ISBN)
Disputation
2008-04-25, C3, Hus C, Campus Valla, Linköpings universitet, Linköping, 10:15 (Engelska)
Opponent
Handledare
Tillgänglig från: 2008-04-28 Skapad: 2008-04-28 Senast uppdaterad: 2009-05-12

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Pettersson, MarcusAndersson (Ölvander), JohanKrus, Petter

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