University of Twente Student Theses
Modelling and selection of drivetrain components and validation of co-design methods for robot actuation
Berg, Rutger van den (2025) Modelling and selection of drivetrain components and validation of co-design methods for robot actuation.
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| Full Text Status: | Access to this publication is restricted |
| Embargo date: | 1 December 2025 |
| Abstract: | This paper presents improvements on a proposed co-design methodology using trajectory optimization for robot actuation design. We have included gearbox mass and friction effects, which are shown to have considerable influence on the optimal design parameters. Furthermore, we propose an approach for selecting off-the-shelf motors and gearboxes based on co-design outcomes, which shows that rounding the design parameters to the nearest available values can be suboptimal or infeasible. Finally, we constructed a physical robot to run the optimized trajectories, with which we have done preliminary tests to analyze the execution of the optimized tasks. |
| Item Type: | Essay (Master) |
| Clients: | Maxon Group |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 52 mechanical engineering, 53 electrotechnology, 54 computer science |
| Programme: | Robotics MSc (60973) |
| Link to this item: | https://purl.utwente.nl/essays/106337 |
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