liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Multi-objective optimization of Industrial robots
Linköping University, Department of Management and Engineering, Machine Design. (Machine Design Division)
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

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.
Keyword [en]
CAD modeling, optimization, design framework
National Category
Applied Mechanics
URN: urn:nbn:se:liu:diva-113283ISRN: LIU-IEI-TEK-A--11/01112—SEOAI: diva2:780552
2011-05-07, A37, A Building, Linköping, 17:06 (English)
Available from: 2015-04-20 Created: 2015-01-14 Last updated: 2015-04-20Bibliographically approved

Open Access in DiVA

fulltext(3234 kB)290 downloads
File information
File name FULLTEXT01.pdfFile size 3234 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Nezhadali, Vaheed
By organisation
Machine Design
Applied Mechanics

Search outside of DiVA

GoogleGoogle Scholar
Total: 290 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 86 hits
ReferencesLink to record
Permanent link

Direct link