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Design Automation of Modular Industrial Robots

[+] Author Affiliations
Mehdi Tarkian, Johan Ölvander

Linköping University, Linköping, Sweden

Xiaolong Feng, Marcus Petterson

ABB Corporate Research, Västerås, Sweden

Paper No. DETC2009-87271, pp. 655-664; 10 pages
  • ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 29th Computers and Information in Engineering Conference, Parts A and B
  • San Diego, California, USA, August 30–September 2, 2009
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4899-9 | eISBN: 978-0-7918-3856-3
  • Copyright © 2009 by ASME


This paper presents a novel approach for designing modular robots. There are two main components in this approach namely the modeling methodology of the robot and a framework for simulation of the models and execution of an optimization process. To illustrate the presented methodology an integrated analysis tool for an industrial robot is developed combining dynamic and geometric models in a parametric design approach. An optimization case is conducted to visualize the automation capabilities of the proposed framework, and enhance the design for modular industrial robots.

Copyright © 2009 by ASME



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