Journal
MECHATRONICS
Volume 21, Issue 3, Pages 560-569Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechatronics.2011.02.004
Keywords
Drive train optimization; Discrete design variables; Light-weight robot; Complex method
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Funding
- Aalborg University
- Det Obelske Familiefond (DOF)
- Chinese Scholarship Council (CSC)
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A drive train optimization method for design of light-weight robots is proposed. Optimal selections of motors and gearboxes from a limited catalog of commercially available components are done simultaneously for all joints of a robotic arm. Characteristics of the motor and gearbox, including gear ratio, gear inertia, motor inertia, and gear efficiency, are considered in the drive train modeling. A co-simulation method is developed for dynamic simulation of the arm. A design example is included to demonstrate the proposed design optimization method. (c) 2011 Elsevier Ltd. All rights reserved.
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