Minimizing error in robot arm based on design optimization for high stiffness to weight ratio
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How to Cite

Minimizing error in robot arm based on design optimization for high stiffness to weight ratio. (2008). Al-Khwarizmi Engineering Journal, 4(1), 17-26. https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/528

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Abstract

In this work the effect of choosing tri-circular tube section had been addressed to minimize the end effector’s error, a comparison had been made between the tri-tube section and the traditional square cross section for a robot arm, the study shows that for the same weight of square section and tri-tube section the error may be reduced by about 33%.

A program had been built up by the use of MathCAD software to calculate the minimum weight of a square section robot arm that could with stand a given pay load and gives a minimum deflection. The second part of the program makes an optimization process for the dimension of the cross section and gives the dimensions of the tri-circular tube cross section that have the same weight of the corresponding square section but with less deflection.

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References

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[2]. Marcus P., Peter K., Xiaolong F.A., Johan A. and doniel W. “industrial robot design optimization in the conceptual design phase”, IEEE –mec. Of robot, 2004.

[3]. Abdel –Malek K. and Paul B., “criteria for the design of manipulator arms for high stiffness to weight ratio”, SME journal of manufacturing systems, Vol.17, No.3, pp.209-220.
[4]. E.I. Rivin, mechanical design of robots, 1988, Mc Grow –Hill, Inc, New York.
[5]. E.j. Hearn “Mechanics of materials”, Pergamon press, 1977.

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