University of Twente Student Theses
The best robot for the job : Optimising robot and actuation design through co-design
Schaaij, Jonathan (2024) The best robot for the job : Optimising robot and actuation design through co-design.
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| Abstract: | Optimizing the efficiency and performance of robotic systems involves a delicate balance between trajectory optimization and robot design. This paper introduces a co-design methodology that integrates trajectory optimization with a detailed parametric model of motors and actuators, aiming to minimize power consumption. The proposed approach utilizes a more comprehensive motor model that includes factors such as friction, resistive losses, and realistic motor parameters based on commercially available components. By leveraging tools such as Pinocchio for rigid body dynamics and CasADi for nonlinear optimization, this method has been successfully tested on both 3-DoF and 6-DoF robotic arms. The results demonstrate significant improvements in efficiency, validating the effectiveness of the co-design strategy. Key contributions include the development of an enhanced actuator model, the exploration of multiple collocation methods, and the optimization of power efficiency. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 50 technical science in general, 52 mechanical engineering, 53 electrotechnology, 54 computer science |
| Programme: | Robotics MSc (60973) |
| Link to this item: | https://purl.utwente.nl/essays/102805 |
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