A Framework for Multidisciplinary Optimization of a Balancing Mechanism for an Industrial Robot

Table 1

The optimization variables and their upper and lower limits.

Notation	Low. bound	Up. bound	Entity
	0		Angle for mounting A
	0		Angle for mounting B
	0.15	0.3	Radius to A [m]
	0.1	0.7	Extra distance to B [m]
			Initial pressure [Pa]
	0.015	0.03	Thread diameter of spring [m]
			Middle diameter of spring [m]
	6.5	10.5	Number of turns of spring
	0.65	0.8	Unloaded length of spring [m]