Topology design of high-speed and heavy-duty operation robot driven by trajectory

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-04-08 DOI:10.1016/j.mechmachtheory.2025.106013

Jun Li , Chuanying Wang , Dong Wang , Kaixuan Chen , Yimin Song , Tao Sun

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引用次数: 0

Abstract

This paper proposes a trajectory-driven topology design method for the high-speed and heavy-duty operation robot. Firstly, a topology motion trajectory is generated based on the functional requirements of the robot and the characteristics of the stamping process, including end path and link envelopes. A dual mapping relationship is established between the motion trajectory and the topology composition. From this, basic topologies are derived. Secondly, with the performance of the mechanism as the evolution goal, different topology evolution strategies are generated by optimizing the driving joints and coordinating the joint displacements. Depending on the evolution strategies, different evolution patterns are formed. The evolution topologies are generated from the basic topologies in accordance with the evolution patterns. Finally, a multi-level topology evaluation system is established by considering the stamping scenario characteristics, structural design feasibility, and developing screening and comparison criteria. According to the evaluation system, the superior topologies are selected at different levels.

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry