駆動仕事に基づいたリンク機構の最適化

概要

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This paper describes the optimization method of the mechanism consisting of a set of links connected in a chain by joints, such as a robot manipulator. The purpose of the optimization is to design a set of links which is able to move more efficiently in a three-dimensional workspace. The fundamental idea of the optimization is based on minimization of the work of actuators. The work of the actuators is defined as the product of the actuator torque by the rotational angle of the actuator. The torque and the rotational angles are calculated using the equations of motion of the set of links when the free end of the chain moves at a constant acceleration from any location in the workspace toward an arbitrary direction for a short distance. The magnitude of the work shows the magnitude of the power of the actuators. Therefore, by determining the link dimensions such as length, mass value, center of mass, and momentum of inertia so as to minimize the performance function defined as the sum of the work of the actuators at any location in the workspace, the mechanism consisting of the set of links is optimized.
一般社団法人日本機械学会の論文
1997-12-25