Optimal design of a variable stiffness joint in a robot manipulator using the response surface method
- Optimal design of a variable stiffness joint in a robot manipulator using the response surface method
- 유정훈; 현명욱; 최준호; 강성철; 김승종
- Variable stiffness joint; Robot manipulator; Permanent magnet; Finite element method; Design of experiments; Response surface method
- Issue Date
- Journal of mechanical science and technology.
- VOL 23, NO 8, 2236-2243
- 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.
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- KIST Publication > Article
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