engleski

Optimum drive-train design of an industrial robot family

This thesis was supported by the company ABB Cor¬porate Research to meet the need to automate the design process of industrial robots. The main focus is on the develop¬ment of a tool frame to verify the feasibility of optimum drive-train design of an industrial robot family. In the case of this thesis, a Simple Robot family of a modular type, consisting of four master robots, which are characterised by simultaneously increased (decreased) reach andpayload capability, is used as a study object. With a robot family of a modular type sharing components can be provided in a common product platform which may lead to significant reduction of design and simula¬tion efforts. The Simple Robots with a specified performance requirement (e.g. time performance, workspace, etc.) are opti¬mized concurrently in order to determine an optimum sharing strategy among robot family members. Therefore a family optimization tool architecture for multiple drive-train design has been implemented in MATLAB. Furthermore, an overall objective function has been proposed, verified, and shown good convergence capability.

optimization; design; simulation; industrial robot; drive-train

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