Minimizing error in robot arm based on design optimization for high stiffness to weight ratio.
In this work the effect of choosing tri-circular tube section had been addressed to minimize the end effectors 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-t...
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| Formato: | article |
| Lenguaje: | EN |
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Al-Khwarizmi College of Engineering – University of Baghdad
2008
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| Acceso en línea: | https://doaj.org/article/223dd356e29a4e349287b0f75cdc8ab0 |
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| Sumario: | In this work the effect of choosing tri-circular tube section had been addressed to minimize the end effectors 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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