Work

Coordinated Optimization of Actuation and Component Structures in Lightweight Dynamic Arm‐Like Systems

Year: 2025

Type: article

Abstract: ABSTRACT The interaction between actuation and structure in robot arms and similar arm‐like systems offers potential for lightweight design, leading to improved energy efficiency and dynamics. However, this interaction introduces complexity into the design and optimization process. This work presents an approach to optimize the actuation and structural components in a coordinated manner using nested loops to manage this complexity. The procedure allows for the simultaneous variation of the actuation principle (e.g., joint motors or belt drives) and associated actuator variables (e.g., motor masses or belt drive positions). Within this framework, the individual arm segments are structurally designed using density‐based topology optimization. The topology optimization uses linear static load cases, which are derived from a multi‐body simulation at specific time points with a predefined motion. The presented approach systematically explores the design space, leading to holistically optimized lightweight structures for arm‐like systems. An example demonstrates how the interaction between actuation and structure is taken into account.

Source: PAMM

DOI: 10.1002/pamm.70059

Authors: Felix Janzik, Eike Uttich, Axel Schumacher, Beate Bender

Institutions: University of Wuppertal, Ruhr University Bochum, Technische Universität Berlin

Language: English

Topic: Topology Optimization in Engineering

Subfield: Civil and Structural Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,090

Funders: Bergische Universität Wuppertal, Deutsche Forschungsgemeinschaft