Multidisciplinary Design Optimization of Modular Industrial Robots

摘要

This paper presents a multidisciplinary design optimization framework for modular industrial robots. An automated design framework, containing physics based high fidelity models for dynamic simulation and structural strength analyses are utilized and seamlessly integrated with a geometry model. The proposed framework utilizes well-established methods such as metamodeling and multi-level optimization in order to speed up the design optimization process. The contribution of the paper is to show that by applying a merger of well-established methods, the computational cost can be cut significantly, enabling search for truly novel concepts.