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Titel:

Modular Topology Optimization of a Humanoid Arm

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Krischer, Lukas; Sureshbabu, Anand Vazhapilli; Zimmermann, Markus
Abstract:
The development of humanoid robots is typically driven by control, kinematics and actuator design, often resulting in unnecessarily heavy structural components. Topology optimization can be used to reduce weight. Unfortunately, topology optimization is numerically expensive for a multi-component robot system that assumes different poses and considers several materials for each segment. This paper proposes a top-down approach where components of the robot are optimized separately. In the first st...     »
Stichworte:
Topology Optimization, Systems modelling and Simulation, Robot design , modularity
Kongress- / Buchtitel:
2020 3rd International Conference on Control and Robots (ICCR)
Datum der Konferenz:
26.12.2020
Verlag / Institution:
IEEE
Publikationsdatum:
26.12.2020
Jahr:
2020
Quartal:
4. Quartal
Nachgewiesen in:
Scopus
Print-ISBN:
9781728175621
Volltext / DOI:
doi:10.1109/iccr51572.2020.9344316
Semester:
WS 20-21
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