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)


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.


Robot Design Optimization Dynamics Regressor Form Combined Structural and Dimensional Synthesis 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.



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


  1. 1.
    Ceccarelli, M., Lanni, C.: A multi-objective optimum design of general 3R manipulators for prescribed workspace limits. Mechanism and Machine Theory 39(2), 119–132 (2004)Google Scholar
  2. 2.
    Carbone, G., Ottaviano, E., Ceccarelli, M.: An optimum design procedure for both serial and parallel manipulators. Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science 221(7), 529–843 (2007)Google Scholar
  3. 3.
    Ramirez, D., Kotlarski, J., Ortmaier, T.: Combined structural-dimensional synthesis of robot manipulators for minimal energy consumption. In: Tagungsband des 2. Kongresses Montage Handhabung Industrieroboter, pp. 63–71. Springer (2017)Google Scholar
  4. 4.
    Tarkian, M., Lundén, B., Ölvander, J.: Integration of parametric cad and dynamic models for industrial robot design and optimization. In: ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 761–769Google Scholar
  5. 5.
    Zhou, L., Bai, S.: A new approach to design of a lightweight anthropomorphic arm for service applications. Journal of Mechanisms and Robotics 7(3) (2015)Google Scholar
  6. 6.
    Shiller, Z., Sundar, S.: Design of robotic manipulators for optimal dynamic performance. In: Proceedings of the 1991 IEEE International Conference on Robotics and Automation, pp. 334–339Google Scholar
  7. 7.
    Chedmail, P., Gautier, M.: Optimum choice of robot actuators. Journal of engineering for industry 112(4), 361–367 (1990)Google Scholar
  8. 8.
    Pettersson, M., Ölvander, J.: Drive train optimization for industrial robots. IEEE Transactions on Robotics 25(6), 1419–1424 (2009)Google Scholar
  9. 9.
    Zhou, L., Bai, S., Hansen, M.R.: Design optimization on the drive train of a lightweight robotic arm. Mechatronics 21(3), 560–569 (2011)Google Scholar
  10. 10.
    Tarkian, M., Persson, J., Ölvander, J., Feng, X.: Multidisciplinary design optimization of modular industrial robots. In: Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE. Washington, DC (2011)Google Scholar
  11. 11.
    Pettersson, M., Andersson, J., Krus, P.: Methods for discrete design optimization. In: ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 295–303Google Scholar
  12. 12.
    Padilla-García, E.A., Cruz-Villar, C.A., Rodriguez-Angeles, A.: Multi-objective design/control optimization on the power train of robot manipulators using a genetic algorithm. In: Proc. of the 14th IFToMM World Congress (2015)Google Scholar
  13. 13.
    Khalil, W., Dombre, E.: Modeling, Identification and Control of Robots. Hermes Penton Science (2002)Google Scholar
  14. 14.
    Ramirez, D., Kotlarski, J., Ortmaier, T.: Automatic generation of a minimal set of serial mechanisms for a combined structural - geometrical synthesis. In: Proc. of the 14th IFToMM World Congress. Taipei (2015)Google Scholar
  15. 15.
    Gogu, G.: Structural Synthesis of Parallel Robots, Part 1: Methodology, Solid Mechanics and Its Applications, vol. 866. Springer (2008)Google Scholar

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

Personalised recommendations