Multi-disciplinary and multi-objective optimization of a hydro-pneumatic balancing cylinder for an industrial robot

This article presents an optimization framework that is used to optimize a hydro-pneumatic balancing cylinder for industrial robots. A balancing cylinder is a device that is used to balance the gravitational torque of one of the main axes of a high-loaded serial industrial robot. The design of components for an industrial robot is multi-disciplinary, since disciplines such as multibody dynamics, drive train design and robot control are needed. The design process is also multi-objective since the functionality of the balancing cylinder should be optimal, while its size and cost should be minimal. The article therefore also contains a discussion about multi-disciplinary and multi-objective optimization of complex products.