Design Optimization Method of Inertial Parameters of Serial Manipulators for Improving the Energy Efficiency

에너지 효율 향상을 위한 직렬형 머니퓰레이터의 관성 파라미터 설계 최적화 방법

  • Hwang, Soon-Woong (Department of Mechatronics Engineering, Hanyang University) ;
  • Kim, Hyeon-Guk (Department of Mechatronics Engineering, Hanyang University) ;
  • Choi, Youn-Sung (Department of Mechanical Engineering, Hanyang University) ;
  • Shin, Kyoo-Sik (Department of Robot Engineering, Hanyang Univeristy) ;
  • Han, Chang-Soo (Department of Robot Engineering, Hanyang Univeristy)
  • 황순웅 (한양대학교 메카트로닉스공학과) ;
  • 김현국 (한양대학교 메카트로닉스공학과) ;
  • 최윤성 (한양대학교 기계공학과) ;
  • 신규식 (한양대학교 로봇공학과) ;
  • 한창수 (한양대학교 로봇공학과)
  • Received : 2016.10.10
  • Accepted : 2016.11.10
  • Published : 2016.11.30


This paper presents a design methodology for improving the energy efficiency by considering the inertial properties of serial manipulators. This method employed is to put the inertia matrix, which has a critical effect on the equation of motion, into the constraints of the optimization problem. Through the optimization process, we propose a design algorithm that can double-check whether the optimized parameters satisfy the required performance or not by using an auxiliary index associated with the inertia and energy. Using this design algorithm, we were able to improve the energy efficiency by minimizing the torque. We applied this method to a 3 degrees of freedom serial manipulator and simulated it.


Inertia Property;Energy Efficiency;Torque Optimization;Optimal Design;Serial Manipulator


Supported by : 한국산업기술평가관리원


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