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Design Automation of Modular Industrial Robots
Linköping University, Department of Management and Engineering, Machine Design. Linköping University, The Institute of Technology.
Linköping University, Department of Management and Engineering, Machine Design. Linköping University, The Institute of Technology.
ABB Corporate Research, Västerås.
ABB Corporate Research, Västerås.
2009 (English)In: ASME CIE09, San Diego, USA, Sep. 2009, 2009, 655-664 p.Conference paper, Published paper (Other academic)
Abstract [en]

This paper presents a novel approach for designing modular robots. There are two main components in this approach namely the modeling methodology of the robot and a framework for simulation of the models and execution of an optimization process.

To illustrate the presented methodology an integrated analysis tool for an industrial robot is developed combining dynamic and geometric models in a parametric design approach. An optimization case is conducted to visualize the automation capabilities of the proposed framework, and enhance the design for modular industrial robots.

Place, publisher, year, edition, pages
2009. 655-664 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-52472DOI: 10.1115/DETC2009-87271ISBN: 978-0-7918-4899-9 (print)ISBN: 978-0-7918-3856-3 (print)OAI: oai:DiVA.org:liu-52472DiVA: diva2:282870
Conference
ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009; San Diego, CA; United States
Available from: 2009-12-22 Created: 2009-12-22 Last updated: 2014-10-02Bibliographically approved
In thesis
1. Design Reuse and Automation: On High Level CAD Modeling for Multidisciplinary Design and Optimization
Open this publication in new window or tab >>Design Reuse and Automation: On High Level CAD Modeling for Multidisciplinary Design and Optimization
2009 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

THIS THESIS EXPLORES novel CAD modeling methods for design reuse and tomation realization. It will be demonstrated that by applying the described methods, CAD models can be utilized as framework integrators in order to generate geometric input for various engineering analysis tools. Multidisciplinary design can as a result be facilitated in early design due to decreased manual model re-definitions. Furthermore, due to the complex dependency between analysis tools, certain product characteristics can only be evaluated by applying a holistic design approach. Therefore, by applying multidisciplinary design, the level of knowledge about the product will increase.

To simulate and evaluate the properties and behavior of an engineering product during design, the geometry has to be constantly re-estimated. CAD tools can be employed to produce the requested geometry. However simplifications introduced in the geometry, due to incomplete and imprecise knowledge available in early design, result in inaccurate geometries. Thus re-modeling has to occur in a frequent rate in order to achieve sufficiently accurate models. Hence CAD tool are traditionally applied in later stages of design when the geometry of the product is more or less defined and CAD is applied to generate drafting and technical drawings for manufacturing purposes

It is therefore proposed that geometries for repetitive components are stored in so called high level templates and instantiated in the CAD model parametrically. Upon instantiation, each instance can be modified parametrically. Given the fact that the instantiation process is automated, the deletion and replacement procedures are also automatic, enabling easier model modifications in the design process.

To estimate the gained advantage when applying the proposed methods, holistic design frameworks are implemented. The frameworks consist of a combination of various engineering tools which are integrated through a user interface. Given that an information flow between the design tools is implemented, many aspects of design is computed and optimized concurrently. Consequently in order to draw general conclusion concerning geometric modeling, two different design applications with dissimilar requirements are studied in this work, namely aircraft and industrial robots.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2009. 51 p.
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1419
National Category
Mechanical Engineering
Identifiers
urn:nbn:se:liu:diva-52088 (URN)LIU-TEK-LIC-2009:27 (Local ID)978-91-7393-512-8 (ISBN)LIU-TEK-LIC-2009:27 (Archive number)LIU-TEK-LIC-2009:27 (OAI)
Presentation
2009-10-30, C3, C-huset, Campus Valla, Linköpings universitet, Linköping, 10:15 (English)
Opponent
Supervisors
Available from: 2009-12-22 Created: 2009-12-03 Last updated: 2010-04-07Bibliographically approved
2. Design Automation for Multidisciplinary Optimization: A High Level CAD Template Approach
Open this publication in new window or tab >>Design Automation for Multidisciplinary Optimization: A High Level CAD Template Approach
2012 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

In the design of complex engineering products it is essential to handle cross-couplings and synergies between subsystems. An emerging technique, which has the potential to considerably improve the design process, is multidisciplinary design optimization (MDO).

MDO requires a concurrent and parametric design framework. Powerful tools in the quest for such frameworks are design automation (DA) and knowledge based engineering (KBE). The knowledge required is captured and stored as rules and facts to finally be triggered upon request. A crucial challenge is how and what type of knowledge should be stored in order to realize generic DA frameworks.

In the endeavor to address the mentioned challenges, this thesis proposes High Level CAD templates (HLCts) for geometry manipulation and High Level Analysis templates (HLAts) for concept evaluations. The proposed methods facilitate modular concept generation and evaluation, where the modules are first assembled and then evaluated automatically. The basics can be compared to parametric LEGO® blocks containing a set of design and analysis parameters. These are produced and stored in databases, giving engineers or a computer agent the possibility to first select and place out the blocks and then modify the shape of the concept parametrically, to finally analyze it. The depicted methods are based on physic-based models, meaning less design space restrictions compared to empirical models.

A consequence of physic-based models is more time-consuming evaluations, reducing the probability of effective implementation in an iterative intensive MDO. To reduce the evaluation time, metamodels are used for faster approximations. Their implementation, however, is not without complications. Acquiring accurate metamodels requires a non-negligible investment in terms of design space samplings. The challenge is to keep the required sampling level as low as possible.

It will be further elaborated that many automated concurrent engineering platforms have failed because of incorrect balance between automation and manual operations. Hence, it is necessary to find an equilibrium that maximizes the efficiency of DA and MDO.

To verify the validity of the presented methods, three application examples are presented and evaluated. These are derived from industry and serve as test cases for the proposed methods.

Abstract [sv]

Vid utvecklingen av komplexa och tätt integrerade maskintekniska produkter är det viktigt att hantera gränsöverskridande kopplingar och synergier mellan olika delsystem. En ny teknik, som har potential att drastiskt förbättra konstruktionsprocessen, är multidisciplinär design optimering (MDO).

En MDO process kräver ett integrerat och parametrisk konstruktionsramverk. I detta syfte är design automation (DA) och knowledge based engineering (KBE) lovande tekniker för att stödja parametriska konstruktionsramverk. En avgörande utmaning ligger i hur och vilken typ av kunskap som bör förvaras för att förverkliga en generell DA ramverk.

Därför föreslås high level CAD template (HLCT) för geometri manipulation och high level Analysis template (HLAt) för koncept utvärderingar. Detta gör att användaren kan bygga modeller i mindre moduler som sedan monteras och utvärderas automatiskt. Grunderna kan jämföras med parametriska LEGO ® block som innehåller en uppsättning av design och analys parametrar. Dessa produceras och lagras i databaser, vilket ger ingenjörer eller en datoragent möjligheten att först välja och placera ut blocken och sedan ändra formen på dem parametriskt, för att slutligen analysera produkten. Metoderna är baserade på fysikbaserade modeller, vilket innebär mindre begränsningar jämfört med empiriska modeller.

Nackdelen med fysikbaserade modeller är tidskrävande utvärderingar, vilket gör genomförandet av dem i en iterativintensiv MDO opraktisk. För att minska utvärderingstiden införs metamodeller för snabbare approximationer. Att implementera metamodeller är dock inte utan komplikationer. Metamodeller kräver en icke försumbar investering i form av utvärderingar av fysikbaserade modeller för att nå en acceptabel approximation. Utmaningen är att hålla nivån på antalet iterationer så låg som möjligt.

Det kommer att redogöras att många samtidiga DA plattformar har misslyckats på grund av felaktig uppskattning gällande balansen mellan manuella och automatiserade operationer. Det är ytterst nödvändigt att hitta rätt balans för att maximera effektiviteten av DA och MDO.

För att verifiera giltigheten av de presenterade metoderna används tre applikationsexempel från industrin.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2012. 100 p.
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1479
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-81880 (URN)978-91-7519-790-6 (ISBN)
Public defence
2012-10-19, ACAS, Campus Valla, Linköpings universitet, Linköping, 10:15 (English)
Opponent
Supervisors
Available from: 2012-09-24 Created: 2012-09-24 Last updated: 2012-09-26Bibliographically approved

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Tarkian, MehdiÖlvander, Johan

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