産業用ロボットの軽量化を目的とした作業領域と駆動機構の初歩的複合領域最適化

抄録

Recently, a worldwide shortage of natural resources has become an issue. Also, the energy consumption of the manufacturing sector including industrial robots is nearly 70% of total energy. In this research, serial link manipulators suited to the user’s purpose are designed, aiming to reduce waste of specifications and to save energy and resources. Multidisciplinary design optimization is applied to design manipulators to make it totally lighter and set two disciplinaries: geometric region and dynamic region. As a result of optimization, the mass of the whole manipulator became half of the Co-bot sold in 2022, depending on the trajectory and velocity. Also, it showed that Co-bot, which is driven at low speed can be designed lighter than now.