Structural Optimization of Slender Robot Arm Based on Sensitivity Analysis

Zhong Luo, Xueyan Zhao, Le Liang and Fei Wang

Mathematical Problems in Engineering, 2012, vol. 2012, 1-17

Abstract:

An effective structural optimization method based on a sensitivity analysis is proposed to optimize the variable section of a slender robot arm. The structure mechanism and the operating principle of a polishing robot are introduced firstly, and its stiffness model is established. Then, a design of sensitivity analysis method and a sequential linear programming (SLP) strategy are developed. At the beginning of the optimization, the design sensitivity analysis method is applied to select the sensitive design variables which can make the optimized results more efficient and accurate. In addition, it can also be used to determine the scale of moving step which will improve the convergency during the optimization process. The design sensitivities are calculated using the finite difference method. The search for the final optimal structure is performed using the SLP method. Simulation results show that the proposed structure optimization method is effective in enhancing the stiffness of the robot arm regardless of the robot arm suffering either a constant force or variable forces.

Date: 2012
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2012/806815.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2012/806815.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:806815

DOI: 10.1155/2012/806815

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().