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

  • Ahmed Abdul Hussain Ali University of Baghdad College of Engineering, Mech. department

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

[1]. P.S. shiakolas, D. koladiya and J.kebrle “optimum robot design based on task specifications using evolutionary techniques and kinematic, dynamic, and structural constraints”, international journal of inverse problems in engineering, volume 10, number 4, pp 359-375, 2002.
[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.
Published
2008-03-01
How to Cite
Ali, A. (2008). Minimizing error in robot arm based on design optimization for high stiffness to weight ratio. Al-Khwarizmi Engineering Journal, 4(1), 17-26. Retrieved from https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/528