Automated Design of an Industrial Robot Family
2009 (English)In: ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference: Volume 5: 35th Design Automation Conference, Parts A and B, New York, NY, USA: American Society of Mechanical Engineers, ASME , 2009, 927-939 p.Conference paper (Refereed)
In this work, a methodology and an integrated tool framework has been developed for automated design of an industrial robot family consisting of four robot members. For each robot, performance requirements concerning payloads, reaches, and time performances are specified. A 3D design tool, namely Solid Works, has been integrated with robot kinematics and dynamics simulation tools for simultaneous kinematics and dynamics design. A motor library comprising both geometric data and physical data has also been integrated in the tool framework. The automated design of the robot family has been formulated as a multi-objective and mixed variable design optimization problem. The arm modules are treated as continuous design variables while the motors are treated as discrete variables. Due to the characteristics of this mixed variable design optimization problem a genetic algorithm (GA) has been used. This work has successfully demonstrated the feasibility for achieving automatic design of an industrial robot family.
Place, publisher, year, edition, pages
New York, NY, USA: American Society of Mechanical Engineers, ASME , 2009. 927-939 p.
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-52720DOI: 10.1115/DETC2009-86613ISI: 000290417800083ISBN: 978-0-7918-4902-6 (print)ISBN: 978-0-7918-3856-3 (online)OAI: oai:DiVA.org:liu-52720DiVA: diva2:285189
ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, San Diego, California, USA, August 30–September 2, 2009