Optimal design of a variable stiffness joint in a robot manipulator using the response surface method

Title
Optimal design of a variable stiffness joint in a robot manipulator using the response surface method
Authors
유정훈현명욱최준호강성철김승종
Keywords
Variable stiffness joint; Robot manipulator; Permanent magnet; Finite element method; Design of experiments; Response surface method
Issue Date
2009-08
Publisher
Journal of mechanical science and technology.
Citation
VOL 23, NO 8, 2236-2243
Abstract
The response surface method combined with the design of experiment-based design optimization of a variable stiffness joint (VSJ) is presented in this article. A VSJ used in a manipulator of a robot arm to support 1 kg payload at the end is designed by considering the minimization of the total weight as the objective function. Owing to the requirement of large rotational stiffness of the VSJ, over 10 N ⋅m , ring-type permanent magnets are adopted. First, a model composed of two permanent magnets was initially manufactured and tested for comparison with the analysis results. Then, a three-ring-type permanent magnet-based model is suggested and optimized to increase the torque of VSJ. The finite element method is used as a magnetic field analysis method to substitute for the expensive experimental process. Optimization results decrease the weight from 0.899 kg to 0.538 kg, still satisfying the requirement for the rotational stiffness.
URI
http://pubs.kist.re.kr/handle/201004/35769
ISSN
1738-494X
Appears in Collections:
KIST Publication > Article
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE