TY - GEN
T1 - Topology and Parameterization based Multi-Objective Optimization of Delta Parallel Robot Arm
AU - Yang, Fengyufan
AU - Wang, Lizhe
AU - Chen, Min
AU - Zhang, Quan
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Lightweight and high stiffness are the two fundamental but conflicting objectives for the robotic arm design. This paper proposed an integrated structure optimization approach for the multi-objective design. Firstly, general topology optimization is used to determine the initial frame of the structure, from which the multiple design variables are considered. Then the sensitivity analysis and response surface methods (RSM) are adopted to filter the key parameters for the further optimal design. Finally, the effectiveness of this integrated method is illustrated by a Delta robot arm. Compared with the initial model, the deformation, mass, and stress of Delta robot arm of the final optimal design decrease prominently, reaching approximately 3.125%, 22.22%, and 18.08%, respectively.
AB - Lightweight and high stiffness are the two fundamental but conflicting objectives for the robotic arm design. This paper proposed an integrated structure optimization approach for the multi-objective design. Firstly, general topology optimization is used to determine the initial frame of the structure, from which the multiple design variables are considered. Then the sensitivity analysis and response surface methods (RSM) are adopted to filter the key parameters for the further optimal design. Finally, the effectiveness of this integrated method is illustrated by a Delta robot arm. Compared with the initial model, the deformation, mass, and stress of Delta robot arm of the final optimal design decrease prominently, reaching approximately 3.125%, 22.22%, and 18.08%, respectively.
UR - http://www.scopus.com/inward/record.url?scp=85123287798&partnerID=8YFLogxK
U2 - 10.1109/WRCSARA53879.2021.9612620
DO - 10.1109/WRCSARA53879.2021.9612620
M3 - Conference Proceeding
AN - SCOPUS:85123287798
T3 - 2021 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2021
SP - 212
EP - 217
BT - 2021 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd WRC Symposium on Advanced Robotics and Automation, WRC SARA 2021
Y2 - 11 September 2021 through 11 September 2021
ER -