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

Schappler, Moritz; Tappe, Svenja; Ortmaier, Tobias

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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.classification	Konferenzschrift	ger
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	Text	ger
dc.relation.doi	10.1007/978-3-030-20131-9_193
dc.description.version	acceptedVersion	ger
tib.accessRights	frei zug�nglich	ger