A contribution to the optimal dimensioning of lightweight robots with slender, homogenous links
Sprache des Vortragstitels:
Englisch
Original Tagungtitel:
Austrian Mechanics Day AMD2024
Sprache des Tagungstitel:
Englisch
Original Kurzfassung:
The use of robots in modern production brings a multitude of requirements with it. Lightweight robots provide high operating speed under low energy consumption. Appropriate motion planning and a dedicated vibration-damping control usually counter the vibrations that inevitably occur due to the inherent structural flexibility. The approach pursued in the course of this work is to account for the aforementioned shortcomings already during the design process. To this end, the parameters of a detailed elastic robot model are optimized with regard to weight reduction and vibration tendency. Estimating the lifetime of the robot?s structural elements and use it as a further quality criterion is the focus of this contribution.
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