에너지 효율 향상을 위한 산업용 로봇 설계 방법

Abstract

Recently many researchers have been studying new methods to improve the energy efficiencies of existing products for solving energy problems. In the field of robotics, the efficiencies of industrial robots are to be increased since many industrial robots are being used in the manufacturing field. This study proposes a design methodology of industrial robot for increasing energy efficiency. This methodology are composed of two methods. One is deciding optimal link mass based on joint torque optimization and the other is designing robust link using topology optimization to overcome reaction forces when it perform the specified task.