多関節形ロボットの高性能化のための動作計画と構造設計の統合的最適化

概要

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This paper proposes methodologies for the integrated optimization of motion planning and structural design for increasing product performance of articulated robots. First, the following three types of optimization procedures are constructed : (1) cross-sectional dimensions of arms are determined so that the summation of the moment of inertia of each arm around the driving axis is minimized under the constraint of the static compliance at the end-effector point of a robot, (2) arm lengths and the positional relationship between the path of the end-effector point and the representative point of a robot are determined so that the operational time is minimized within the constraints of the upper limits of the driving torques and the upper limits of the ratios of the torque changes, and (3) motion planning concerning the velocity at the end-effector point is determined so that the operational time is minimized within the constraints of the upper limits of the driving torques and the upper limits of the ratios of the torque changes. Then, the integrated optimization procedures of motion planning and structural design of articulated robots are constructed by integrating the three foregoing kinds of optimization problems. Finally, the proposed procedures are demonstrated on an articulated robot.
一般社団法人日本機械学会の論文
1993-03-25