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An approach towards parametric optimization of construction frames for Cartesian industrial robots

Gwardecki Filip, Falkowski Piotr

Journal of Automation Mobile Robotics and Intelligent Systems

2021

Vol. 15, No. 3

15--28

The paper presents an approach to parametric optimization with response surface methodology. This process was performed based on the design of a construction frame for a Cartesian industrial robot. The presented installation is dedicated to the real industrial pick‐and place application. Firstly, the case study was described with relevant information about the components invol‐ ved. Then, the finite element model with constraints and loads, as well as the settings of the response surface op‐ timization were discussed. The simulation was presented to the reader within all the stages with necessary details. Into consideration were taken six methods of creating response surfaces. Influence on the final optimization result and prediction accuracy of each one was presented. In the end, to validate the outcomes of the process, the static structural analysis of the setup was computed. The paper compares the impact of applying different methods of response surface generation on the results of parametric optimization. Moreover, it indicates the most vulnerable fragments of dynamically loaded elements made of construction profiles. Its results may be used to select appropriate settings in similar applications, mainly for frame structures.