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Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis

  • Moritz SchapplerEmail author
  • Svenja Tappe
  • Tobias Ortmaier
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

In the design optimization of robot manipulators regarding drive train and link geometries the dynamics equations have to be evaluated repeatedly. The method proposed in this paper reduces the computational effort in the dynamics evaluations by using the property of parameter linearity of the dynamics equations. The combined structural and dimensional synthesis of robot manipulators is adapted in a set of hierarchical optimization loops to exploit this dynamics property. By this means a reduction of computation time for the inverse dynamics in the synthesis of up to factor three is possible.

Keywords

Robot Design Optimization Dynamics Regressor Form Combined Structural and Dimensional Synthesis 

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Notes

Acknowledgements

The financial support from the Deutsche Forschungsgemeinschaft (DFG) under grant number OR 196/33-1 is gracefully acknowledged.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Moritz Schappler
    • 1
    Email author
  • Svenja Tappe
    • 1
  • Tobias Ortmaier
    • 1
  1. 1.Institute for Mechatronic SystemsLeibniz University HannoverHannoverGermany

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