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Topology Optimization of Industrial Robots: Application to a Five-bar Mechanism

Abstract : Recent works introduced topology optimization in the design of robots, but the proposed methodologies led to a local optimization of the performance. Moreover, most of performance indices used are not in strong relation with easy-to-understand technological requirements. We propose a methodology that is able to perform a topology optimization for robots, valid globally in the workspace or for a set of given trajectories, and which is based on the use of technology-oriented performance criteria. In order to enforce the chosen performance indices to be valid globally, optimal robot configurations or trajectories for which extreme performance will be attained are computed, and iteratively updated. In order to decrease the computational time associated with these performance indices, we exploit the structure of the elastic models in order to reduce their computational complexity. Finally, we use an optimization algorithm called the Linearization Method which gives results in a computational time equivalent to standard topology optimization algorithms, but its implementation is less complex and makes it quite easy to perform modification or improvement. The methodology is applied for the design of a five-bar mechanism. We show that our approach leaded to a robust optimization of the robot performance over the whole workspace.
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Submitted on : Monday, June 24, 2019 - 9:42:10 PM
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Sébastien Briot, Alexandre Goldsztejn. Topology Optimization of Industrial Robots: Application to a Five-bar Mechanism. Mechanism and Machine Theory, Elsevier, 2018, 120, pp.30-56. ⟨hal-01587979⟩

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