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

Table 2

Percentage values of the balancing properties for three optimized concepts with respect to a reference balancing cylinder.

Property	Ref.	Mech.	Gas	HP
Cycle time	100	96	98	98
Cylinder length	100	110	115	79
Cylinder weight	100	123	14	18
Energy consumption	100	91	96	90
Lifetime second axis	100	187	135	190
Maximum axial force	100	139	129	119
Unbalanced static torque	100	92	91	88