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Cycle-based Robot Drive Train Optimization Utilizing SVD Analysis
Linköping University, The Institute of Technology. Linköping University, Department of Management and Engineering, Machine Design.
Linköping University, The Institute of Technology. Linköping University, Department of Mechanical Engineering, Machine Design.
2008 (English)In: ASME Design Automation Conference,2007, Las Vegas: ASME , 2008, 903-910 p.Conference paper, Published paper (Refereed)
Abstract [en]

Designing a drive train for an industrial robot is a demanding task where a set of design variables need to be determined so that optimal performance is obtained for a wide range of different duty cycles. The paper presents a method where singular value decomposition (SVD) is used to reduce the design variable set. The application is a six degree of freedom serial manipulator, with nine drive train parameters for each axis and the objective is to minimize the cycle time on 122 representative design cycles without decreasing the expected lifetime of the robot. The optimization is based on a simulation model of the robot and conducted on a reduced set of the initial duty cycles and with the design variables suggested by the SVD analysis. The obtained design reduces the cycle time with 1.6% on the original design cycles without decreasing the life time of the robot.

Place, publisher, year, edition, pages
Las Vegas: ASME , 2008. 903-910 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-39784DOI: 10.1115/DETC2007-34772ISI: 000254345300081Local ID: 51216ISBN: 0-7918-3806-4 (print)ISBN: 0-7918-4807-8 (print)OAI: oai:DiVA.org:liu-39784DiVA: diva2:260633
Conference
ASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2014-08-21

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Feng, XiaolongÖlvander, Johan

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • modern-language-association-8th-edition
  • vancouver
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  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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