Design Measures for Lightweight Industrial Robots

  • I. D. Çaushi
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)


In this paper the effects of mass reduction by industrial robots are investigated with the aim to obtain optimized lightweight structures of industrial robots. Formulation of mathematical robot models and simulations are performed by a software (Autolev), which makes use of Kane’s method. The robot system IGM Limat RT 280-6 is modelled as a rigid multibody system with 6 DOFs. All six electromagnetic controlling effects of driving units, inertia and gyroscopic effects of rotors, friction moments and payload are included. Effects of all these system parameters which will be important for future design of appropriate controllers of lightweight robots are examined. By analyzing effects of different mass reductions an energy criterion to optimize the mechanical structure of lightweight industrial robots is formulated.


Acceleration Peak Industrial Robot Mass Reduction Inertia Moment Inertia Parameter 
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Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • I. D. Çaushi
    • 1
    • 2
  1. 1.Institute for Handling Devices and RoboticsTechnical University of ViennaAustria
  2. 2.Institute for Mechanical ConstructionsPolytechnical University of TiranaAlbania

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