作業環境を考慮した産業用ロボットの最適設計 : 第1報,二自由度回転関節形ロボットを対象とする設計法

概要

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Industrial robots are being used more and more in complicated working environments which include obstacles. Industrial robots most suitable for a given working environment should be designed such that they avoid obstacles while moving in the working space. In this paper, a design optimization method is proposed for two-degree-of-freedom rotary angular jointed robots used in a working environment including obstacles. In this optimization, the lengths of the links, the cross-sectional shapes of the links, and the directional orientation of the robot installation are determined. First, the algorithmic procedures of the optimization method are presented. Then, analytical procedures for obtaining the feasible set of link lengths are described. Finally, the effectiveness of the method is demonstrated for designing a robot used in a given working environment.
一般社団法人日本機械学会の論文
1988-07-25