| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 412030 | Robotics and Autonomous Systems | 2012 | 10 Pages |
Abstract
An approach to minimize the mass of robotic manipulators is developed by integrated dimensional and drive-train optimization. The method addresses the influences of dimensions and characteristics of drive-trains in the design optimization. Constraints are formulated on the basis of kinematic performance and dynamic requirements, whereas the main objective is to minimize the total mass. Case studies are included to demonstrate the application of the optimization method in the design of assistive robots.
Keywords
Related Topics
Physical Sciences and Engineering
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Artificial Intelligence
Authors
Lelai Zhou, Shaoping Bai, Michael Rygaard Hansen,