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Component Based Modelling And Optimization For Modular Robot Design
Linköping University, Department of Management and Engineering, Machine Design. Linköping University, The Institute of Technology.
Linköping University, The Institute of Technology. Linköping University, Department of Mechanical Engineering, Machine Design.
Linköping University, The Institute of Technology. Linköping University, Department of Mechanical Engineering, Machine Design.
2007 (English)In: ASME Design Automation Conferance,2007, Las Vegas: ASME , 2007, 911-920 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, an approach for modular design of industrial robots is presented. The approach is to introduce an objectoriented simulation model of the robot and combine this with a discrete optimization algorithm. The simulation model of the industrial robot is developed in Modelica, an object oriented modeling and simulation language, and simulated in the Dymola tool. The optimization algorithm used is a modification of the Complex method that has been developed in Matlab and connected to the simulation program. The optimization problem includes selecting components such as gearboxes and motors from a component catalogue and the objective function considers minimization of cost with constraints on gear box lifetime. Furthermore, the correctness of the model has been verified by comparison with an in-house simulation code with high accuracy.

Place, publisher, year, edition, pages
Las Vegas: ASME , 2007. 911-920 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-39793Local ID: 51233ISBN: 0-7918-4807-8 (print)OAI: oai:DiVA.org:liu-39793DiVA: diva2:260642
Conference
ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-04-22

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Ölvander, JohanPettersson, Marcus

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