Optimal Dimensioning of Elastic-Link Manipulators regarding Lifetime Estimation

TL;DR

This paper presents a method for optimizing the design of elastic-link robotic manipulators by estimating their lifetime through fatigue analysis, balancing weight and vibration for sustainable, efficient operation.

Contribution

It introduces a novel lifetime estimation approach based on fatigue analysis for elastic manipulators, integrated into a geometry optimization framework considering vibration and weight.

Findings

Optimized robot geometry balances lifetime and vibration performance.

The method effectively predicts fatigue life of elastic link manipulators.

Tradeoff solutions are identified on a Pareto front for design choices.

Abstract

Resourceful operation and design of robots is key for sustainable industrial automation. This will be enabled by lightweight design along with time and energy optimal control of robotic manipulators. Design and control of such systems is intertwined as the control must take into account inherent mechanical compliance while the design must accommodate the dynamic requirements demanded by the control. As basis for such design optimization, a method for estimating the lifetime of elastic link robotic manipulators is presented. This is applied to the geometry optimization of flexible serial manipulators performing pick-and-place operations, where the optimization objective is a combination of overall weight and vibration amplitudes. The lifetime estimation draws from a fatigue analysis combining the rainflow counting algorithm and the method of critical cutting plane. Tresca hypothesis is used to formulate an equivalent stress, and linear damage accumulation is assumed. The final robot geometry is selected from a Pareto front as a tradeoff of lifetime and vibration characteristic. The method is illustrated for a three degrees of freedom articulated robotic manipulator.