工业机器人拓扑优化外文文献.pdfVIP

Mechanism and Machine Theory 120 (2018) 30–56 Contents lists available at ScienceDirect Mechanism and Machine Theory journal homepage: /locate/mechmachtheory Research paper Topology optimization of industrial robots: Application to a five-bar mechanism ∗ Sébastien Briot , Alexandre Goldsztejn Laboratoire des Sciences du Numérique de Nantes (LS2N) UMR CNRS 6004 – 1 rue de la Noë, Nantes 44321, France a r t i c l e i n f o a b s t r a c t Article history: Recent works introduced topology optimization in the design of robots, but the proposed Received 9 December 2016 methodologies led to a local optimization of the performance. Moreover, most of perfor- Revised 10 July 2017 mance indices used are not in strong relation with easy-to-understand technological re- Accepted 14 September 2017 quirements. Available online 26 September 2017 We propose a methodology that is able to perform a topology optimization for robots, Keywords: valid globally in the workspace or for a set of given trajectories, and which is based on Robot design the use of technology-oriented performance criteria. In order to enforce the chosen perfor- Deformation mance indices to be valid globally, optimal robot configurations or trajectories for which Natural frequency