Multi-objective optimization of Industrial robots
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Industrial robots are the most widely manufactured and utilized type of robots in industries. Improving the design process of industrial robots would lead to further developments in robotics industries. Consequently, other dependant industries would be benefited. Therefore, there is an effort to make the design process more and more efficient and reliable. The design of industrial robots requires studies in various fields. Engineering softwares are the tools which facilitate and accelerate the robot design processes such as dynamic simulation, structural analysis, optimization, control and so forth. Therefore, designing a framework to automate the robot design process such that different tools interact automatically would be beneficial. In this thesis, the goal is to investigate the feasibility of integrating tools from different domains such as geometry modeling, dynamic simulation, finite element analysis and optimization in order to obtain an industrial robot design and optimization framework. Meanwhile, Meta modeling is used to replace the time consuming design steps. In the optimization step, various optimization algorithms are compared based on their performance and the best suited algorithm is selected. As a result, it is shown that the objectives are achievable in a sense that finite element analysis can be efficiently integrated with the other tools and the results can be optimized during the design process. A holistic framework which can be used for design of robots with several degrees of freedom is introduced at the end.
Place, publisher, year, edition, pages
2011. , 68 p.
CAD modeling, optimization, design framework
IdentifiersURN: urn:nbn:se:liu:diva-113283ISRN: LIU-IEI-TEK-A--11/01112—SEOAI: oai:DiVA.org:liu-113283DiVA: diva2:780552
2011-05-07, A37, A Building, Linköping, 17:06 (English)
Tarkian, Mehdi, Doktorand
Ölvander, Johan, Professor