Title :
Structural design optimization and comparative analysis of a new high-performance robot arm via finite element analysis
Author :
Roy, Jaydeep ; Whitcomb, Louis L.
Author_Institution :
Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
This paper reports the structural design of a new high-performance robot arm. Design objectives for the new arm include large (1-2m) workspace, low weight, 5 kg payload capacity, high stiffness, high structural vibration frequencies, precise joint-level torque control, a total of three degrees-of-freedom, and mechanical simplicity. A comparative analysis is reported for four very different two degree-of-freedom linkage candidates using the finite element method
Keywords :
CAD; finite element analysis; manipulators; mechanical engineering computing; software packages; torque control; 5 kg payload capacity; comparative analysis; design objectives; finite element analysis; high stiffness; high structural vibration frequencies; high-performance robot arm; joint-level torque control; mechanical simplicity; structural design optimization; three degrees-of-freedom; two degree-of-freedom linkage; Design optimization; Failure analysis; Finite element methods; Frequency; Mesh generation; Pattern analysis; Payloads; Robots; Torque control; Vibration control;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619287
