Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis

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dc.identifier.uri http://dx.doi.org/10.15488/10211
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10283
dc.contributor.author Schappler, Moritz ger
dc.contributor.author Tappe, Svenja ger
dc.contributor.author Ortmaier, Tobias ger
dc.date.accessioned 2020-12-01T13:47:07Z
dc.date.available 2020-12-01T13:47:07Z
dc.date.issued 2019
dc.identifier.citation Schappler, M.; Tappe, S.; Ortmaier, T.: Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis. In: Uhl, T. (Ed): Advances in Mechanism and Machine Science. IFToMM WC 2019. Cham : Springer, 2019 (Mechanisms and Machine Science ; 73), S. 1949-1958. DOI: https://doi.org/10.1007/978-3-030-20131-9_193 ger
dc.description.abstract In the design optimization of robot manipulators regarding drive train and link geometries the dynamics equations have to be evaluated repeatedly. The method proposed in this paper reduces the computational effort in the dynamics evaluations by using the property of parameter linearity of the dynamics equations. The combined structural and dimensional synthesis of robot manipulators is adapted in a set of hierarchical optimization loops to exploit this dynamics property. By this means a reduction of computation time for the inverse dynamics in the synthesis of up to factor three is possible. eng
dc.language.iso eng ger
dc.publisher Cham : Springer
dc.relation.ispartof Advances in Mechanism and Machine Science ger
dc.relation.ispartofseries Mechanisms and Machine Science;73
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. ger
dc.subject Robot Design Optimization eng
dc.subject Dynamics Regressor Form eng
dc.subject Combined Structural and Dimensional Synthesis eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau ger
dc.title Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis eng
dc.type bookPart ger
dc.type conferenceObject ger
dc.type Text ger
dc.relation.doi 10.1007/978-3-030-20131-9_193
dc.description.version acceptedVersion ger
tib.accessRights frei zug�nglich ger


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