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Optimal robot placement using response surface method

Behnam Kamrani ; Viktor Berbyuk (Institutionen för tillämpad mekanik, Dynamik) ; Daniel Wäppling ; Uwe Stickelmann ; Xiaolong Feng
The International Journal of Advanced Manufacturing Technology (0268-3768). Vol. 44 (2009), 1-2, p. 201-210.
[Artikel, refereegranskad vetenskaplig]

This paper is concerned with a new approach for optimal placement of a prescribed task in the workspace of a robotic manipulator. The approach is resulted by applying response surface method on concept of path translation and path rotation. A robotic optimization tool based on this approach is developed as an add-in to RobotStudio. The methodology has been carefully verified by optimizing the position of several kinds of industrial robots and paths in four showcases to attain minimum cycle time. The results indicate that an increase in productivity up to 37%, compared to the admissible location with the highest cycle time, is achieved by optimally positioning the task in the robot workspace.

Nyckelord: Robot, optimal placement, response surface method, minimum cycle time, productivity



Denna post skapades 2009-08-26. Senast ändrad 2015-12-17.
CPL Pubid: 96695

 

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Institutioner (Chalmers)

Institutionen för tillämpad mekanik, Dynamik

Ämnesområden

Optimeringslära, systemteori
Fastkroppsmekanik

Chalmers infrastruktur