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Evaluation and Optimization of Industrial Robot Families Using Different Kinematic Measures
ABB Corporate Research, Västerås, Sweden.
ABB Corporate Research, Västerås, Sweden.
Linköping University, Department of Management and Engineering, Machine Design. Linköping University, The Institute of Technology.
2010 (English)In: ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference: Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, The American Society of Mechanical Engineers (ASME) , 2010, Vol. 7, no PART B, 1047-1057 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, overall manipulability measure and stroke of workspace are proposed and evaluated as design criteria for optimal kinematics design of a family of industrial robots. The object of study is a 6 degree of freedom serial robot manipulator where individual family members (robots) share arms from a common platform. The paper presents a formal mathematical framework where the product family design problem is stated as an optimization problem and where optimization is used to find an optimal product family. The paper illustrates how the proposed kinematic design criteria may be used to support the optimal kinematics design of a family of industrial robots, and it also visualizes the tradeoff between the size of the common platform and the kinematics performance of individual robots. Copyright © 2009 by ASME.

Place, publisher, year, edition, pages
The American Society of Mechanical Engineers (ASME) , 2010. Vol. 7, no PART B, 1047-1057 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:liu:diva-59100DOI: 10.1115/DETC2009-86946ISI: 000290417600111ISBN: 978-0-7918-4904-0 (print)ISBN: 978-0-7918-3856-3 (print)OAI: oai:DiVA.org:liu-59100DiVA: diva2:352364
Conference
ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, San Diego, California, USA, August 30 – September 2, 2009
Available from: 2010-09-20 Created: 2010-09-09 Last updated: 2016-05-13Bibliographically approved

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Ölvander, Johan

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CiteExportLink to record
Permanent link

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