Design optimization of industrial robots considering the working environment

摘要

SUMMARY Industrial robots are being used increasingly in complicated working environments where there are obstacles. Industrial robots most suitable for a given working environment should be designed such that they avoid obstacles while moving in the designated working space. In this paper, a design optimization method is proposed for two-degree-of-freedom rotary angular jointed robots for use in such an obstacle-inclusive working environment. In this method, the lengths of the arms and the directional orientation of the robot installation are theoretically determined. First, the algorithmic procedures of the optimization method are presented. Then analytical procedures for obtaining the feasible set of arm lengths are described. Finally, effectiveness of the method is demonstrated for designing a robot used in a given working environment.