Dimensional Optimization of the Robotic Arm to Reduce Energy Consumption

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F20%3A10244449" target="_blank" >RIV/61989100:27230/20:10244449 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mmscience.eu/journal/issues/March%202020/articles/dimensional-optimization-of-the-robotic-arm-to-reduce-energy-consumption" target="_blank" >https://www.mmscience.eu/journal/issues/March%202020/articles/dimensional-optimization-of-the-robotic-arm-to-reduce-energy-consumption</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.17973/MMSJ.2020_03_2020001" target="_blank" >10.17973/MMSJ.2020_03_2020001</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Dimensional Optimization of the Robotic Arm to Reduce Energy Consumption

Popis výsledku v původním jazyce

This study examines selected components of the optimization function, used to evaluate the optimal kinematic structure of a robot for a given task. Automated generation of the kinematic structure is based on scalable drive modules of the joints and modules of the carrying arms with a check on the permissible torque of the drive and bending moment of the carrier element. An optimization algorithm is used to generate variations of kinematic structures, the base requirement of the fitness function is the ability to traverse a given trajectory with a defined orientation of the tool. The suitability of a given kinematic structure is evaluated further by a set of evaluation functions such as a check for spatial collisions, energy consumption, minimization of total weight, minimization of degrees of freedom for a given task and several other criteria. Two of these criteria - evaluation of the total weight of a robotic arm with drives in joints and evaluation of power consumption for a defined handling task are examined here.

Název v anglickém jazyce

Dimensional Optimization of the Robotic Arm to Reduce Energy Consumption

Popis výsledku anglicky

This study examines selected components of the optimization function, used to evaluate the optimal kinematic structure of a robot for a given task. Automated generation of the kinematic structure is based on scalable drive modules of the joints and modules of the carrying arms with a check on the permissible torque of the drive and bending moment of the carrier element. An optimization algorithm is used to generate variations of kinematic structures, the base requirement of the fitness function is the ability to traverse a given trajectory with a defined orientation of the tool. The suitability of a given kinematic structure is evaluated further by a set of evaluation functions such as a check for spatial collisions, energy consumption, minimization of total weight, minimization of degrees of freedom for a given task and several other criteria. Two of these criteria - evaluation of the total weight of a robotic arm with drives in joints and evaluation of power consumption for a defined handling task are examined here.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

MM Science Journal

ISSN

1803-1269

e-ISSN

—

Svazek periodika

Neuveden

Číslo periodika v rámci svazku

March

Stát vydavatele periodika

CZ - Česká republika

Počet stran výsledku

9

Strana od-do

3745-3753

Kód UT WoS článku

000532576800008

EID výsledku v databázi Scopus

2-s2.0-85080981670