Research Papers: Design of Mechanisms and Robotic Systems

Optimum Design of Serial Robots

[+] Author and Article Information
Vinay Gupta

Department of Mechanical Engineering,
IEC College of Engineering and Technology,
Knowledge Park-I,
Greater Noida 201310, India
e-mail: vinayguptaiec@gmail.com

Subir Kumar Saha

Department of Mechanical Engineering,
Indian Institute of Technology Delhi,
Hauz Khas, New Delhi 110016, India
e-mail: saha@mech.iitd.ac.in

Himanshu Chaudhary

Department of Mechanical Engineering,
Malaviya National Institute of Technology Jaipur,
Malviya Nagar, Jaipur, Rajasthan 302017, India
e-mail: hchaudhary.mech@mnit.ac.in

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received July 9, 2018; final manuscript received January 11, 2019; published online April 18, 2019. Assoc. Editor: Ettore Pennestri.

J. Mech. Des 141(8), 082303 (Apr 18, 2019) (12 pages) Paper No: MD-18-1552; doi: 10.1115/1.4042623 History: Received July 09, 2018; Accepted January 15, 2019

An optimum design of an industrial robot can be achieved from different point of views. For example, a robot can be conceived from the standpoint achieving maximum workspace or minimum weight, etc. In this paper, the objective is to arrive at a robot design that will require optimum driving torques/forces at its joints to perform tasks within its workspace. Such a design will automatically save energy. Note that these torques/forces at the joints are highly dependent on the mass and the inertia properties of the robot’s links. Therefore, these quantities were minimized by determining the optimum masses and optimum mass centers and finding out the corresponding inertia properties of the moving links. Such an approach was briefly introduced earlier by the authors with the help of a simple two-link planar arm. In this paper, the concept is generalized and demonstrated with the help of a complex robot, a 6-degrees-of-freedom PUMA robot. To achieve the design for optimum driving torques/forces at the joints, the concept of equimomental system of point masses was introduced, which helped to obtain the optimum locations of the mass centers of each link quite conveniently. However, to compute the driving torques/forces recursively for such equivalent point mass systems, the decoupled natural orthogonal complement matrices for point masses (DeNOC-P) was derived. It has led to a simplified algorithm for obtaining driving torques/forces. The proposed algorithm for optimization is illustrated with the help of a PUMA robot.

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Fig. 1

The ith continuum link with equimomental system of point masses: (a) Continuum rigid link, #i, (b) Three point-mass model, and (c) Seven point-mass model

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Fig. 6

Flow chart for optimum design process

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Fig. 2

Three-DOF planar robot with its three point mass model

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Fig. 3

Comparison of inverse dynamics results for the 3-DOF planar robot

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Fig. 12

One-DOF planar arm: (a) Three point mass model and (b) Gravity balanced

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Fig. 13

Comparison of driving torques with and without gravity

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Fig. 5

Joint torques for PUMA robot

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Fig. 7

Comparison of original and optimized torques for 3-DOF planar robot arm

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Fig. 8

RMS values of the torques for the 3-DOF planar robot arm

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Fig. 9

Location of the optimized mass centers of the 3-DOF planar robot arm for case a1

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Fig. 10

Comparison of the original and the optimized torques of the PUMA robot

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Fig. 11

Comparison of RMS values of torques for PUMA robot on logarithmic scale

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Fig. 15

Comparison of driving torque before and after optimization of 1-DOF planar arm without gravity

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Fig. 14

Comparison of driving torques



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