0

Full Content is available to subscribers

Subscribe/Learn More  >

Robustness Evaluation of Mapping Techniques for Automated Servo Robot Design

[+] Author Affiliations
Michael R. Hansen, Torben O. Andersen

Aalborg University

Paper No. IMECE2006-14545, pp. 893-902; 10 pages
doi:10.1115/IMECE2006-14545
From:
  • ASME 2006 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Chicago, Illinois, USA, November 5 – 10, 2006
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4768-3 | eISBN: 0-7918-3790-4
  • Copyright © 2006 by ASME

abstract

Work has been carried out to investigate some of the important design parameters and performance criteria that should be addressed when designing servo mechanisms and, subsequently, to put forward a computationally efficient design procedure. Emphasis is put on the handling of the discrete design variables. A two-stage approach is presented that uses dimensionless parameters that maps data bases of commecially available components. At the first stage the dimensionless parameter are allowed to assume any value. At the second stage the dimensionless parameters are pushed towards integer values by means of penalization techniques. A three-degree of freedom open chain spatial mechanism is used as the fixed mechanism topology of the study. Each drive consists of an inverter driven servo motor attached to a planetary gear. In the optimization the design are evaluated based on a typical working cycle involving the positioning of a certain payload. The design criteria include costs of drives and structural components, tool point precision, fatigue in welded details, over heating and stalling of the motors and gears as well as time of operation. The work is a continuation of previous work and emphasis in this paper is on the robustness of the method and the organization of the data bases.

Copyright © 2006 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In