Integrated Optimization of Motion Planning and Structural Design for Increasing Product Performance of Articulated Robots

摘要

This paper proposes methodologies for optimizing motion planning and structural design for increasing product performance of articulated robots in an integrated manner. First, the following three types of optimization procedures are constructed : (1) cross-sectional dimensions of arms are determined so that the summation of the moment of inertia of each arm around the driving axis is minimized under the constraint of the static compliance at the end-effector point of a robot, (2) arm lengths and positional relation between the path of the end-effector point and a representative point on a robot are determined so that the operating time is minimized under the constraint concerning the upper limits of the driving torques and the upper limits of the ratios of the torque changes, and (3) motion planning with respect to the velocity at the end-effector point is determined so that the operating time is minimized under the constraint concerning the upper limits of the driving torques and the upper limits of the ratios of the torque changes. Then, the integrated optimization procedures of motion planning and structural design of articulated robots are constructed by integrating the foregoing three kinds of optimization problems. Finally, the proposed procedures are exemplified on an articulated robot.