Dynamics and actuating torque optimization of planar robots

다국어 초록 (Multilingual Abstract)

An optimization methodology is presented for design of serial-chain planar robots for minimizing torque at joints, when its endeffectoris supposed to move on a prescribed path. In particular, the end-effector of the robot is allowed to move on a circular path. Forthe respective joint trajectories, the weighted sum of root mean square (RMS) of the actuating torques is minimized by the mass redistributionof the links. To achieve the goal, the DeNOC (Decoupled natural orthogonal complement) based dynamics was formulated byrepresenting the rigid links as a set of rigidly connected point-masses known as equimomental system. The methodology is illustratedusing a planar two-degree-of-freedom (DOF) robot with two revolute joints.

참고문헌 (Reference)

1 E. J. Routh, "Treatise on the dynamics of a system of rigid bodies, Elementary Part-I" Dover publication Inc 1905

2 V. Arakelian, "Torque minimization of the 2-DOF serial manipulators based on minimum energy consideration and optimum mass redistribution" 21 : 310-314, 2011

3 R. T. Marler, "The weighted sum method for multi-objective optimization: new insights" 41 : 853-862, 2010

4 W. A. Khan, "The kinetostatic optimization of robotic manipulators: The inverse and the direct problem" 128 : 168-178, 2006

5 D. F. Berner, "The influence of joint angle constraints on the optimum design of a planar robot manipulator following a complicated prescribed path" 37 : 111-124, 1999

6 J. A. Snyman, "Optimum design of a threedimensional serial robot manipulator" 17 : 172-185, 1999

7 H. C. Chou, "Optimal location of robot trajectories for minimization of actuator torque" 28 : 145-158, 1993

8 H. Chaudhary, "Minimization of constraint forces in industrial manipulator" 1954-1195, 2007

9 "MATLAB: Optimization Toolbox, Version R2013a"

10 Selçuk Erkaya, "Investigation of balancing problem for a planar mechanism using genetic algorithm" 대한기계학회 27 (27): 2153-2160, 2013

11 S. K. Saha, "Introduction to robotics" Tata McGraw Hill 2008

12 H. Diken, "Effect of mass balancing on the actuator torques of a manipulator" 30 : 495-500, 1995

13 V. Gupta, "Dynamics of serial-chain multibody systems using equimomental systems of point-masses, Multibody Dynamics" 741-749, 2013

14 S. K. Saha, "Dynamics of serial multibody systems using the decoupled natural orthogonal complement matrices" 66 : 986-996, 1999

15 H. Chaudhary, "Dynamics and balancing of multibody systems" Springer 2009

16 Kailash Chaudhary, "Dynamic balancing of planar mechanisms using genetic algorithm" 대한기계학회 28 (28): 4213-4220, 2014

17 M. Husain, "Design improvement of manipulators by minimizing shaking force/moment and driving torques" 139-147, 1992

18 J. A. Snyman, "A mathematical optimization methodology for the optimal design of a planar robotic manipulator" 44 : 535-550, 1999