Topology optimization of industrial manipulator considering dynamic loading conditions

What is it about?

In this work, topology optimization of robotic rigid-links is analyzed considering dynamic loading conditions. Usually, in such a scenario, the topologies are generated considering worst-case or static conditions. However, this generated topology will not be the optimum for other angular positions (dynamic-condition), as it is dependent on load-direction rather than load-magnitude. Here, a method is proposed similar to an equivalent static load tech- nique to synthesize a single topology, which performs better in all angular positions. The method consists of superimposition of individual optimal topologies corresponding to dif- ferent angular positions, followed by normalization and re-penalization to attain the de- sired volume fraction. Further, morphological variations are performed using image pro- cessing techniques to reduce the stress value and geometric complexities. The synthesized topology by this method shows 10–25% reduction in deflection and stress value compared to any of the optimal topologies. The proposed methodology is illustrated on the two rigid- links of an indigenously developed 3-degree-of-freedom industrial manipulator test rig. It uses three AC-servo motors, controlled using Motion perfect-software with programmable logic controller and human-machine interface. The simulated results are validated using the experimentations. A reduction of 30% link-volume minimizes joint torques by 24.9%, with better values of deflection and stress.

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Why is it important?

Our finding will improve to make energy-efficient industrial manipulators using the topology optimization method considering dynamic loading conditions.