Multi-objective optimization of Industrial robots

..................................................................................................................................... 2 Preface ........................................................................................................................................ 3 Introduction ................................................................................................................................ 6 1.2 Problem statement ........................................................................................................... 7 1.3 Objectives ........................................................................................................................ 7 1.4 Limitations ...................................................................................................................... 9 Robotics .................................................................................................................................... 10 2.1 Industrial robots ............................................................................................................. 10 2.2 Overview of robot structure .......................................................................................... 14 2.2.1 Work envelope ....................................................................................................... 14 2.2.2 Kinematic skeleton ................................................................................................. 15 2.3 Kinematics and Kinetics ................................................................................................ 15 2.3.1 Robot topology ....................................................................................................... 16 2.3.2 Serial Robots .......................................................................................................... 17 2.3.3 Parallel Robots ....................................................................................................... 18 2.4 Mechanical Structure ..................................................................................................... 19 2.4.1 Links ...................................................................................................................... 19 2.4.2 Joint mechanisms ................................................................................................... 20 2.4.2.1 Revolute joints ................................................................................................ 21 2.4.2.2 Prismatic joints ............................................................................................... 21 2.4.3 Actuators ................................................................................................................ 21 2.4.4 Transmissions ........................................................................................................ 22 2.5 Robot Performance ........................................................................................................ 23 2.6 Design procedure for robots .......................................................................................... 24 Theory ...................................................................................................................................... 27 3.1 Framework .................................................................................................................... 27 3.1.1 CAD ....................................................................................................................... 28 3.1.2 Dynamic simulation ............................................................................................... 28 3.1.3 FEA and Optimization ........................................................................................... 28 3.2 Workflow in the framework .......................................................................................... 29 Solving the problem ................................................................................................................. 30 4.1 CAD .............................................................................................................................. 30