Knowledge-Based Automated Mechanical Design of a Robot Manipulator
Abstract
:1. Introduction
2. Materials and Methods
2.1. Kinematic Synthesis through Optimization
2.1.1. Robot Genotype Encoding
2.1.2. Evaluation
2.2. Cad Model
2.2.1. n-th Link Design
3. Results
4. Discussion
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Parameter | a1 | α1 | a2 | α2 | a3 | α3 |
Description | Link 1 length | Joint 1 type | Link 2 length | Joint 2 type | Link 3 length | Joint 3 type |
Upper bound | 1000 | 2 | 1000 | 2 | 1000 | 2 |
Lower bound | 275 | 0 | 250 | 0 | 225 | 0 |
End-Effector | Festo DHPS 25-A-N |
---|---|
Drive unit 1 | HD Canis Drive 14A (Ratio 80) |
Drive unit 2 | HD Canis Drive 14A (Ratio 100) |
Drive unit 3 | HD Canis Drive 17A (Ratio 80) |
Drive unit 4 | HD Canis Drive 17A (Ratio 80) |
Drive unit 5 | HD Canis Drive 17A (Ratio 100) |
Link 2 structural profile | Ø 60 × 2 mm, aluminium |
Link 3 structural profile | Ø 100 × 3 mm, aluminium |
Link 4 structural profile | Ø 90 × 3 mm, steel |
Total weight | 29.75 kg |
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Pastor, R.; Mihola, M.; Zeman, Z.; Boleslavský, A. Knowledge-Based Automated Mechanical Design of a Robot Manipulator. Appl. Sci. 2022, 12, 5897. https://doi.org/10.3390/app12125897
Pastor R, Mihola M, Zeman Z, Boleslavský A. Knowledge-Based Automated Mechanical Design of a Robot Manipulator. Applied Sciences. 2022; 12(12):5897. https://doi.org/10.3390/app12125897
Chicago/Turabian StylePastor, Robert, Milan Mihola, Zdeněk Zeman, and Adam Boleslavský. 2022. "Knowledge-Based Automated Mechanical Design of a Robot Manipulator" Applied Sciences 12, no. 12: 5897. https://doi.org/10.3390/app12125897