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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Autor principal:	Ahmed Abdul Hussain Ali
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2008
Materias:	robot arm stiffness flexible manipulator robot structure analysis flexible link robot Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/223dd356e29a4e349287b0f75cdc8ab0
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id	oai:doaj.org-article:223dd356e29a4e349287b0f75cdc8ab0
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spelling	oai:doaj.org-article:223dd356e29a4e349287b0f75cdc8ab02021-12-02T01:52:25ZMinimizing error in robot arm based on design optimization for high stiffness to weight ratio.1818-1171https://doaj.org/article/223dd356e29a4e349287b0f75cdc8ab02008-01-01T00:00:00Zhttp://www.iasj.net/iasj?func=fulltext&aId=2283https://doaj.org/toc/1818-1171In 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.Ahmed Abdul Hussain AliAl-Khwarizmi College of Engineering – University of Baghdadarticlerobot arm stiffnessflexible manipulatorrobot structure analysisflexible link robotChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 4, Iss 1, Pp 17-26 (2008)
institution	DOAJ
collection	DOAJ
language	EN
topic	robot arm stiffness flexible manipulator robot structure analysis flexible link robot Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	robot arm stiffness flexible manipulator robot structure analysis flexible link robot Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Ahmed Abdul Hussain Ali Minimizing error in robot arm based on design optimization for high stiffness to weight ratio.
description	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.
format	article
author	Ahmed Abdul Hussain Ali
author_facet	Ahmed Abdul Hussain Ali
author_sort	Ahmed Abdul Hussain Ali
title	Minimizing error in robot arm based on design optimization for high stiffness to weight ratio.
title_short	Minimizing error in robot arm based on design optimization for high stiffness to weight ratio.
title_full	Minimizing error in robot arm based on design optimization for high stiffness to weight ratio.
title_fullStr	Minimizing error in robot arm based on design optimization for high stiffness to weight ratio.
title_full_unstemmed	Minimizing error in robot arm based on design optimization for high stiffness to weight ratio.
title_sort	minimizing error in robot arm based on design optimization for high stiffness to weight ratio.
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2008
url	https://doaj.org/article/223dd356e29a4e349287b0f75cdc8ab0
work_keys_str_mv	AT ahmedabdulhussainali minimizingerrorinrobotarmbasedondesignoptimizationforhighstiffnesstoweightratio
_version_	1718402820836687872

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

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