Optimal kinematics design of an industrial robot family

Proceedings of the ASME Design Engineering Technical Conference

Volumn 1, Issue PARTS A AND B, 2008, Pages 777-787

  Ölvander, Johan ^a   Feng, Xiaolong ^b   Holmgren, Bo ^b  

^a LINKÖPING UNIVERSITY   (Sweden)

^b ABB CORPORATE RESEARCH   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

COMMON PLATFORM; KINEMATICS DESIGN; MASS CUSTOMIZATION; MATHEMATICAL FRAMEWORKS; OPTIMIZATION PROBLEMS; PRODUCT FAMILIES; PRODUCT FAMILY DESIGN; SERIAL MANIPULATORS;

COMPUTER AIDED DESIGN; INDUSTRIAL ROBOTS; KINEMATICS; MACHINE DESIGN; MANIPULATORS; OPTIMIZATION;

PRODUCT DESIGN;

EID: 81155138297     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2008-49645     Document Type: Conference Paper

References (19)

1. Bowling A., Analysis of Robotic Manipulator Dynamic Performance: Acceleration and Force Capabilities, PhD Dissertation, Stanford University, USA, 1998.
2. Deb K., Multi-objective Objective Optimization using Evolutionary algorithms, Wiley and Sons Ltd, 2001.
3. Fellini R., Kokoloras M., Papalambros P., Perez-Duarte A., "Platform Selection Under Performance Bounds in Optimal Design of Product Families", Journal of Mechanical Design, vol. 127, pp. 524-535, July, 2005 (Pubitemid 41064206)
4. Fujita K., Yoshida H., "Product Variety Optimization Simultaneously Designing Module Combination and Module Attributes", Concurrent Engineering: Research and Applications, Volume 12, nr2, June 2004.
5. Goldberg D., Genetic Algorithms in Search, Optimization and Machine Learning, Addison Wesley, 1989
6. Gosselin C. and Angeles J., A new performance index for the kinematic optimization of robotic manipulators, in Proceeding of the 20th Biennial Mechanisms Conference, pages 441-447, 1988.
7. Jiao J., Zhang Y., Wang Y., A Generic Genetic Algorithm for product family design, Journal of Intelligent Manufacturing, DOI:10.1007/s10845/-007- 0019-7, 2007.
8. Jose A. and Tollenaere M., "Modular and platform methods for product family design: literature analysis", Journal of Intelligent Manufacturing, 16, pp. 371-390, 2005. (Pubitemid 40878764)
9. Klein. C.A., Use of redundancy in the design of robotic systems, in Proceedings of Robotics Research 2nd International Symposium, pages 207-214, 1985.
10. Klein C.A. and Blaho B.E., Dexterity measures for the design and control of kinematically redundant manipulators, The International Journal of Robotics Research, 6(2):72-83, 1987.
11. Matone R. and Roth B., Designing manipulators for both kinematic and dynamic isotropy, in A. Morecki, G. Bianchi, and C. Rzymkowski, editors, Proceedings Tenth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (Romansy 11), 1997.
12. Mayorga R.V., Ressa B., and Wong A.K.C., A kinematic criterion for the design optimization of robot manipulators, in Proceedings IEEE International Conference on Robotics and Automation, volume 1, pages 578-583, 1991. (Pubitemid 21717225)
13. Mayorga R.V., Ressa B., and Wong A.K.C., A kinematic design optimization of robot manipulators, in Proceedings IEEE International Conference on Robotics and Automation, volume 1, pages 396-401, 1992. (Pubitemid 23590836)
14. Mayorga R.V., and Wong A.K.C., A singularities prevention approach for redundant robot manipulators, in Proceedings IEEE International Conference on Robotics and Automation, volume 2, pages 812-817, 1990.
15. Nelson, S., Parkinson M., Papalambros P., "Multicriteria Optimization in Product Platform Design", Journal of Mechanical Design, vol 123, pp 199-204, June 2001. (Pubitemid 33716199)
16. Park F.C and Brockett R.W., Kinematic dexterity of robot mechanisms. The International Journal of Robotics Research, 13(1):1-15, 1994.
17. Salibury J.K. and Craig J.J., Articulated hands: Force control and kinematic issues, The International Journal of Robotics Research, 1(1), pp 4-17, 1982.
18. Simpson T., D'Souza B., Assessing Variable Levels of Platform Commonality Within a Product Family Using a Multiobjective Genetic Algorithm, Concurrent Engineering: Research and Applications, 12(2) pp 199-129, 2004.
19. Thevenot H., Simpson T., Commonality indices for product family design: a detailed comparison, Journal of Engineering Design, Vol. 17, No. 2, pp 99-119, 2006. (Pubitemid 43071170)