New kinetostatic criterion for robot parametric optimization

摘要

The paper deals with a practical approach of parametric optimization of robots. The main idea is to introduce a new criterion which makes possible to evaluate maximum demanded 2-norm of forces/torques of the robot actuators in the case that the end-effector of the robot is to move inside given workspace (specified by the desired positions) with required maximum acceleration in any direction. Therefore, dynamic behaviour of the robot can naturally be taken into account without the need to specify a particular motion trajectory (e.g. moving along the curve with demanded velocity/acceleration profile). Such a criterion is particularly useful in the cases where customer requirements on a new robotic architecture design are too vague and do not include a specific motion of the end-effector of the robot. The new proposed criterion is further used in a minimax discrete optimization problem. Computational effective culling algorithm is used for finding a global optimum. Finally, an illustrative example describes the optimization of the kinematic parameters of the planar parallel robot in order to minimize actuators torques.