Research Article
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] | | ā | ā | Middle diameter of spring [m] | | 6.5 | 10.5 | Number of turns of spring | | 0.65 | 0.8 | Unloaded length of spring [m] |
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