Dynamic optimization design method for high-speed serial industrial robot

Hui Xu; Shuxin Xie; Zhenhua Wang; Lining Sun; Guodong Chen; Tianjiang Zheng; Guilin Yang

doi:10.1109/RCAR.2018.8621854

Dynamic optimization design method for high-speed serial industrial robot

Hui Xu
, Shuxin Xie
, Zhenhua Wang
, Lining Sun
, Guodong Chen
, Tianjiang Zheng
, Guilin Yang

Soochow University
CAS - Ningbo Institute of Material Technology and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, the dynamic model of flexible body and the optimal design model are established, and the first order natural frequency and payload self-weight ratio are optimized as optimization objectives. The dynamic model of industrial robot with both flexible and flexible joints is derived. Based on this model, the geometrical parameters of the design are optimized. With the torsion stiffness of the reducer as the optimization variable, the optimized selection is carried out to ensure that the integrated performance is optimized under the condition that the first-order natural frequency meets the design requirements.

Original language	English
Title of host publication	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	276-281
Number of pages	6
ISBN (Electronic)	9781538668689
DOIs	https://doi.org/10.1109/RCAR.2018.8621854
State	Published - 2 Jul 2018
Externally published	Yes
Event	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 - Kandima, Maldives Duration: 1 Aug 2018 → 5 Aug 2018

Publication series

Name	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

Conference

Conference	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Country/Territory	Maldives
City	Kandima
Period	1/08/18 → 5/08/18

Access to Document

10.1109/RCAR.2018.8621854

Cite this

Xu, H., Xie, S., Wang, Z., Sun, L., Chen, G., Zheng, T., & Yang, G. (2018). Dynamic optimization design method for high-speed serial industrial robot. In 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 (pp. 276-281). Article 8621854 (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR.2018.8621854

@inproceedings{44f8778a08d34d45a4bd8d035c0259ba,

title = "Dynamic optimization design method for high-speed serial industrial robot",

abstract = "In this paper, the dynamic model of flexible body and the optimal design model are established, and the first order natural frequency and payload self-weight ratio are optimized as optimization objectives. The dynamic model of industrial robot with both flexible and flexible joints is derived. Based on this model, the geometrical parameters of the design are optimized. With the torsion stiffness of the reducer as the optimization variable, the optimized selection is carried out to ensure that the integrated performance is optimized under the condition that the first-order natural frequency meets the design requirements.",

author = "Hui Xu and Shuxin Xie and Zhenhua Wang and Lining Sun and Guodong Chen and Tianjiang Zheng and Guilin Yang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 ; Conference date: 01-08-2018 Through 05-08-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/RCAR.2018.8621854",

language = "英语",

series = "2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "276--281",

booktitle = "2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018",

address = "美国",

}

Xu, H, Xie, S, Wang, Z, Sun, L, Chen, G, Zheng, T & Yang, G 2018, Dynamic optimization design method for high-speed serial industrial robot. in 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018., 8621854, 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018, Institute of Electrical and Electronics Engineers Inc., pp. 276-281, 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018, Kandima, Maldives, 1/08/18. https://doi.org/10.1109/RCAR.2018.8621854

Dynamic optimization design method for high-speed serial industrial robot. / Xu, Hui; Xie, Shuxin; Wang, Zhenhua et al.
2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 276-281 8621854 (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamic optimization design method for high-speed serial industrial robot

AU - Xu, Hui

AU - Xie, Shuxin

AU - Wang, Zhenhua

AU - Sun, Lining

AU - Chen, Guodong

AU - Zheng, Tianjiang

AU - Yang, Guilin

PY - 2018/7/2

Y1 - 2018/7/2

N2 - In this paper, the dynamic model of flexible body and the optimal design model are established, and the first order natural frequency and payload self-weight ratio are optimized as optimization objectives. The dynamic model of industrial robot with both flexible and flexible joints is derived. Based on this model, the geometrical parameters of the design are optimized. With the torsion stiffness of the reducer as the optimization variable, the optimized selection is carried out to ensure that the integrated performance is optimized under the condition that the first-order natural frequency meets the design requirements.

AB - In this paper, the dynamic model of flexible body and the optimal design model are established, and the first order natural frequency and payload self-weight ratio are optimized as optimization objectives. The dynamic model of industrial robot with both flexible and flexible joints is derived. Based on this model, the geometrical parameters of the design are optimized. With the torsion stiffness of the reducer as the optimization variable, the optimized selection is carried out to ensure that the integrated performance is optimized under the condition that the first-order natural frequency meets the design requirements.

UR - https://www.scopus.com/pages/publications/85062499725

U2 - 10.1109/RCAR.2018.8621854

DO - 10.1109/RCAR.2018.8621854

M3 - 会议稿件

AN - SCOPUS:85062499725

T3 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

SP - 276

EP - 281

BT - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

Y2 - 1 August 2018 through 5 August 2018

ER -

Xu H, Xie S, Wang Z, Sun L, Chen G, Zheng T et al. Dynamic optimization design method for high-speed serial industrial robot. In 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 276-281. 8621854. (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018). doi: 10.1109/RCAR.2018.8621854

Dynamic optimization design method for high-speed serial industrial robot

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