Optimal design of lightweight serial robots by integrating topology optimization and parametric system optimization

Wang, Xuhao; Zhang, Dawei; Zhao, Chen; Zhang, Peilun; Zhang, Yuan; Cai, Yuhu

doi:10.1016/j.mechmachtheory.2018.10.015

Cited by 43 publications

(23 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Assuming the trimming result is denoted by design domain E, unit cell F and the filling cells are G, this can be represented by (5).…”

Section: Conformal Lattice Generative Designmentioning

confidence: 99%

“…The reduced mass leads to less resistance to the motion and also less harm to human beings in the case of collision [4]. For the lightweight of wearable structures, typically there are two solutions: to choose lighter material but sufficient strength or to optimize the structure design [5]. Currently, aluminium alloy is applied in the most available exoskeleton products.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Custom-Fit and Lightweight Optimization Design of Exoskeletons Using Parametric Conformal Lattice

Liu

Chen

Wang

et al. 2021

Proceedings of the 2021 DigitalFUTURES

View full text Add to dashboard Cite

This paper presents an integrated design method for the customization and lightweight design of free-shaped wearable devices, illustrated by a lower limb exoskeleton. The customized design space is derived from the 3D scanning models. Based on the finite element analysis, the structural framework is determined through topology optimization with allowable strength. By means of generative design, the lattice library is constructed to fill the frames under different conformal algorithms. Finally, the proposed method is illustrated by the exoskeleton design case.

show abstract

“…Assuming the trimming result is denoted by design domain E, unit cell F and the filling cells are G, this can be represented by (5).…”

Section: Conformal Lattice Generative Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Custom-Fit and Lightweight Optimization Design of Exoskeletons Using Parametric Conformal Lattice

Liu

Chen

Wang

et al. 2021

Proceedings of the 2021 DigitalFUTURES

View full text Add to dashboard Cite

show abstract

“…5 DOF industrial robots were topologically optimized by SIMP approach considering static loading conditions for mass reduction of 44.4% [35][36][37][38][39]. Integrated optimal design approaches were used for 6 DOF serial industrial robots by use of part-level topology optimization and system level optimization for mass distribution in the design space [40,41]. The actuating torque and dynamics was optimized by mass redistribution of 2 DOF planar robotic for mass reduction of 32.8% [42].…”

Section: Topology Optimizationmentioning

confidence: 99%

A Review on Optimization Methods to Enhance Energy Efficiency of Robots

Srinivas¹,

Mane²,

Javed³

2019

EasyChair Preprints

View full text Add to dashboard Cite

The aim of this paper is to make available of a comprehensive review and to provide a reference of existing methodologies developed for enhancing of the energy efficiency of robots. In the present scenario of increased application of robots, the huge energy consumption is also being predicted. One of the possible solutions for energy consumption can be in terms of developing energy efficient robots. In the domain of energy efficient robot, different attempts are made in past, such as use of lightweight material, analysis of speed, identification of the least energy consuming trajectories and reduction of components weight by topology optimization, etc. The available methodologies to reduce the energy consumption of industrial robots are classified into two groups. The first group comprises of the different attempts of energy efficiency through trajectory optimization of the manipulator. Here, the energy required to perform a particular task is considered. The path is then optimized for minimum power consumption of the motors. This approach is applicable to task-specific cycles. The second group comprises the application of topology optimization method. Topology optimization approach is developed in the last decade and proved to be a promising approach for minimization of the mass of a structural member of machine component. Presented work will be helpful to understand the advancement in this domain.

show abstract

“…Moreover, it can be directly related to a displacement requirement for a given load case and contains all relevant information regarding the deformation behavior. In Wang et al (2019), a stiffness matrix-based optimization of a serial robot based on a parametrization of a topology was conducted utilizing a linear regression for the stiffness estimate of the components with respect to mass. In the context of multi-scale optimization, the connection of the macro and micro scale of the structure is sometimes replaced by meta models to reduce the computational cost.…”

Section: Introductionmentioning

confidence: 99%

Decomposition and optimization of linear structures using meta models

Krischer

Zimmermann

2021

Struct Multidisc Optim

View full text Add to dashboard Cite

Monolithic optimization of large mechanical systems can be expensive and cumbersome. Drivers of computational cost and integration effort are, e.g., the size of the design problem and the number of different components, models, and disciplines. Distributed optimization schemes decompose large problems into smaller subproblems; however, they typically require intense coordination effort. This paper proposes an approach for complete decoupling by decomposing a monolithic optimization into independent optimization subproblems that can be solved without need for coordination. This is accomplished by sampling the space of component performance, here represented by eigenvalues and eigenvectors of stiffness matrices, and establishing meta models that map the relevant component performance values onto feasibility and mass estimates. The optimization procedure consists of two steps: First, a system optimization problem is solved by assigning stiffness requirements to components that are approximately feasible and mass-optimal. Second, the component optimization problems are solved independently of each other such that stiffness requirements are satisfied. As information on feasibility and mass is provided during system optimization by meta models, the approach will be referred to as informed decomposition. The effectiveness of the approach is demonstrated by minimizing the mass of a simple two-component linear structure subject to a requirement on total stiffness. This is done for three different component models, a beam with constant cross-section, a beam with varying cross-sections, and an arbitrary 2-dimensional body, using parametric and topology optimization, respectively. The approach produces results that are at most 1 % heavier than the results obtained by monolithic optimization.

show abstract

Optimal design of lightweight serial robots by integrating topology optimization and parametric system optimization

Cited by 43 publications

References 29 publications

Custom-Fit and Lightweight Optimization Design of Exoskeletons Using Parametric Conformal Lattice

Custom-Fit and Lightweight Optimization Design of Exoskeletons Using Parametric Conformal Lattice

A Review on Optimization Methods to Enhance Energy Efficiency of Robots

Decomposition and optimization of linear structures using meta models

Contact Info

Product

Resources

About