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http://dx.doi.org/10.5762/KAIS.2016.17.11.395

Design Optimization Method of Inertial Parameters of Serial Manipulators for Improving the Energy Efficiency  

Hwang, Soon-Woong (Department of Mechatronics Engineering, Hanyang University)
Kim, Hyeon-Guk (Department of Mechatronics Engineering, Hanyang University)
Choi, Youn-Sung (Department of Mechanical Engineering, Hanyang University)
Shin, Kyoo-Sik (Department of Robot Engineering, Hanyang Univeristy)
Han, Chang-Soo (Department of Robot Engineering, Hanyang Univeristy)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.17, no.11, 2016 , pp. 395-402 More about this Journal
Abstract
This paper presents a design methodology for improving the energy efficiency by considering the inertial properties of serial manipulators. This method employed is to put the inertia matrix, which has a critical effect on the equation of motion, into the constraints of the optimization problem. Through the optimization process, we propose a design algorithm that can double-check whether the optimized parameters satisfy the required performance or not by using an auxiliary index associated with the inertia and energy. Using this design algorithm, we were able to improve the energy efficiency by minimizing the torque. We applied this method to a 3 degrees of freedom serial manipulator and simulated it.
Keywords
Inertia Property; Energy Efficiency; Torque Optimization; Optimal Design; Serial Manipulator;
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