Research Article
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 |
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