دورية أكاديمية
Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance
| العنوان: | Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance |
|---|---|
| المؤلفون: | Peng Li, Zhenguo Nie, Zihao Li, Xinjun Liu |
| المصدر: | Chinese Journal of Mechanical Engineering, Vol 37, Iss 1, Pp 1-15 (2024) |
| بيانات النشر: | SpringerOpen, 2024. |
| سنة النشر: | 2024 |
| المجموعة: | LCC:Ocean engineering LCC:Mechanical engineering and machinery |
| مصطلحات موضوعية: | Multi-objective optimization, Modular joint drive train design, Load capacity, Dynamic response performance, Ocean engineering, TC1501-1800, Mechanical engineering and machinery, TJ1-1570 |
| الوصف: | Abstract Automation advancements prompts the extensive integration of collaborative robot (cobot) across a range of industries. Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity, equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible. In this paper, a new method for designing the drive train parameters of cobot is proposed. Firstly, based on the analysis of factors influencing the load capacity and dynamic response characteristics, design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain. Secondly, with the cobot in the horizontal pose, the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables. Finally, all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization. Base on the cobot design method proposed in this paper, a six-axis cobot is designed and compared with the commercial cobot. The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg, surpassing the 5 kg load capacity commercial cobot which is used as a benchmark. The minimum resonance frequency of the joints is 42.70 Hz. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2192-8258 |
| Relation: | https://doaj.org/toc/2192-8258 |
| DOI: | 10.1186/s10033-024-01041-5 |
| URL الوصول: | https://doaj.org/article/1ae793a79a8741dcbec5dd3518c9e6e1 |
| رقم الأكسشن: | edsdoj.1ae793a79a8741dcbec5dd3518c9e6e1 |
| قاعدة البيانات: | Directory of Open Access Journals |
Find this article in full text from Springer Verlag. 
Full Text Finder | تدمد: | 21928258 |
|---|---|
| DOI: | 10.1186/s10033-024-01041-5 |