ひずみエネルギー分布最適化に基づくロボットの体系的な軽量化手法
Systematic Lightweight Method for Robotics Based on Strain Energy Distribution Optimization
ロボットの軽量化を目的に、ひずみエネルギー密度を均一化するという基準に基づき、システム全体の最適化を部品ごとの最適化に分解する手法を提案した。ロボットアームの例で有効性を示した。
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著者: Jingchen Li
分類: cs.RO
原文アブストラクト
Service robots work with people and are highly expected to be lightweight for safety, agility and energy conservation. As a complex mechanical system, a robot consists of a large number of components and has various working configurations and load environments. An effective method for achieving system-level optimal robot design is a crucial requirement, but it poses significant challenges. In this study, we introduce a novel approach to optimize the distribution of strain energy, which can significantly improve the effectiveness of systematic optimization in a complex system. First, we present and demonstrate that the strain energy per unit mass should be uniformly distributed in an optimal lightweight mechanical system. Based on this criterion, the system-level problem can be decoupled and the design objective of each part can be assigned based on the strain energy. Then, each part can be optimally designed separately according to its specific circumstances by using different approaches, such as size optimization, topological optimization, and material optimization. In this way, the optimization is at the system level, while the computational complexity is at the part level. Weight reduction and improvements in mechanical properties can be obtained simultaneously. As an example, this method is applied to an arbitrarily designed robotic arm, and its effectiveness is further demonstrated in the cases of lightweight with stiffness improvement, considering multiple materials, multiple working conditions, and vibration performance.