Title :
Integrated design optimization of a 5-DOF assistive light-weight anthropomorphic arm
Author :
Zhou, Lelai ; Bai, Shaoping ; Hansen, Michael R.
Author_Institution :
Dept. of Mech. & Manuf, Aalborg Univ., Aalborg, Denmark
Abstract :
An integrated dimensional and drive train optimization method was developed for light-weight robotic arm design. The method deals with the determination of optimal link lengths and the optimal selection of motors and gearboxes from commercially available components. Constraints are formulated on the basis of kinematic performance and dynamic requirements, whereas the main objective is to minimize the weight. The design of a human-like arm, which is 10 kg in weight with a load capacity of 5 kg, is described.
Keywords :
electric motors; humanoid robots; optimisation; robot dynamics; robot kinematics; 5-DOF assistive light-weight anthropomorphic arm; gearbox; human-like arm; integrated design optimization; light-weight robotic arm design; motor optimal selection; optimal link length; robot dynamic requirement; robot kinematic performance; train optimization method; Brushless DC motors; Joints; Optimization; Robot kinematics; Torque;
Conference_Titel :
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location :
Tallinn
Print_ISBN :
978-1-4577-1158-9
DOI :
10.1109/ICAR.2011.6088552
