Multi-objective global optimum design of collaborative robots
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Multi-objective global optimum design of collaborative robots Mingwei Hu 1,2,3 & Hongguang Wang 1,2 & Xinan Pan 1,2 Received: 29 August 2019 / Revised: 4 January 2020 / Accepted: 27 February 2020 # Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract Optimum design is proven significant for improving task performances of robotic manipulators under certain constraints. However, when it is utilized for collaborative robots (Cobots), there are still many challenges such as complex smooth surface links, time-varying kinematic configurations, computational expensiveness, and nonstructural parameter optimization. Therefore, based on orthogonal design experiment (ODE) and finite element substructure method (FESM), a multi-objective optimum design method of Cobots is proposed with the structural dimensions and parameterized joint components as the optimization variables and the natural frequency, the Cartesian stiffness, and the mass of the robot as optimization objectives. Firstly, to obtain multiple global performance indexes (GPIs) of robots in real-time and efficiently, the FESM model of Cobots is established which can preserve the accuracy of the finite element method (FEM) while ensuring the computational efficiency. Then, the gray relational analysis method (GRAM) is used to construct the multi-objective optimization function which includes the global first-order natural frequency index (GFNFI), the global elastic deformation index (GEDI), and the mass of robots. The ODE is constructed, and the structural dimensions and parameterized joint components are taken as influencing factors. According to the orthogonal array (OA), the degree of gray incidence under different levels of influencing factors is solved. And the optimal combination of influencing factor levels is obtained by range analysis (RA), which is used to guide the design of Cobots. Finally, a Cobot SHIR5-I is taken as an illustrative example to perform optimum design in this paper. Keywords Finite element substructure method . Orthogonal design . Collaborative robots . Optimum design . Gray relational analysis method
1 Introduction Collaborative robots (Cobots) are designed for direct interaction with a human within a defined collaborative workspace, which have features of human-robot collaboration, high
Responsible editor: Seonho Cho * Hongguang Wang [email protected] Mingwei Hu [email protected] Xinan Pan [email protected] 1
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2
Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3
University of Chinese Academy of Sciences, Beijing 100049, China
safety, ease of use, high precision-dexterity, and versatility (ISO 2011; Villani et al. 2018; Wahrburg et al. 2017). Since the early 1990s, many Cobots are developed, such as YuMi (Wahrburg et al. 2017), LBR iiwa (Albu-Schaeffer et al. 2007), UR5 (Ostergaard 2012), etc. Cobots are
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