الفهرس 
High speed flexible robot armsOnly 14 pages are availabe for public view
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Abstract
There are growing demands in the robot industry for light structures in order to increase the speed of the robot motion and thus the productivity. Size and Shape optimization are carried out previously to achieve small travelling time of the robot arm taking into consideration its flexibility. Topology optimization is considered one of the most efficient approaches in the field of structure optimization. So, it is proposed to use it in this work to obtain the best structure of the robot arm that can achieve a minimum possible travelling time.
The research problem: The previous researches that aim to obtain the optimum design of high speed flexible robot arms consider size/shape optimization approaches. They suppose fixed, predefined number of holes inside the design domain. These approaches optimize the sizes/shapes of these holes. So, the resulted robot structure cannot be considered the best possible structure.
And then the research aims: to introduce topology optimization for obtaining optimum flexible robot arm to achieve minimum travelling time from both structure and control viewpoints. We aim here to use topology optimization approach which automatically creates the best number and shape of the holes inside the robot arm as well as its outside boundary. This topology optimization will be realized using the method of moving asymptotes (MMA) which is considered a general and flexible optimization method.
Steps of study: The first step is seeking for the most suitable method of topology optimization that can be applied to solve this new optimization problem (flexible robot arms) through comparison between different methods according to their performance and time consumed. The next step is to apply the chosen powerful topology optimization method for the optimization of flexible robot arms to obtain smaller travelling time than that obtained by previous works.
The study concludes: Comparing the most important topology optimization methods indicates that MMA is the most suitable methodology for our problem. Formulate integrated structure/control design methodology for high speed robot arm in which MMA topology optimization problem and time optimal control problem are solved simultaneously. The methodology is applied with and without air damping, for different materials and domain dimensions, and with tip force or tip mass. The results show that the proposed methodology achieves a robot arm design that can travel with double the speed of the robot arm design than that obtained by previous works using size/shape optimization methodology. Also, the final arm weight is nearly half the initial arm weight.