Structural link optimization of an echography robot

Sylvain Miossec (1) , Laurence Nouaille (2)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
2 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique

It is an interesting goal to obtain robots lighter, more precise or to minimize other criteria. Among robot optimization problems, optimizing the structure of robot links considering all its conditions of use can be a very computationally intensive problem, due to the dimension of the configuration space. Maybe for this reason, such problems has never been solved thoroughly. We considered the case of a 3-degrees-of-freedom echography robot. We optimize the shape of two links to minimize the weight and deformation under an end-effector force condition, and whatever the robot configuration. In order to obtain a rapid optimization, we use a non-uniform beam model for links with sensitivity computations. We proposed an easy-to-solve compromise formulation between two criteria. We showed that some substantial weight decrease could be obtained while keeping small deformations, with reasonable computation times, and that several configurations must be considered simultaneously.

Domaines: Robotique [cs.RO]

Sylvain Miossec, Laurence Nouaille. Structural link optimization of an echography robot. IFToMM 2011 World Congress, Jun 2011, Guanajuato, Mexico. pp.A23-294. ⟨hal-00656936⟩