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

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

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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...

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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:
Chemical engineering
TP155-156
Engineering (General). Civil engineering (General)
TA1-2040
Acceso en línea:https://doaj.org/article/bdfe92335109455d87c898bd55c42b80
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spelling oai:doaj.org-article:bdfe92335109455d87c898bd55c42b802021-12-02T05:33:01ZMinimizing error in robot arm based on design optimization for high stiffness to weight ratio1818-11712312-0789https://doaj.org/article/bdfe92335109455d87c898bd55c42b802008-03-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/528https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 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. Ahmed Abdul Hussain AliAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 4, Iss 1 (2008)
institution DOAJ
collection DOAJ
language EN
topic Chemical engineering
TP155-156
Engineering (General). Civil engineering (General)
TA1-2040
spellingShingle 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 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.
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/bdfe92335109455d87c898bd55c42b80
work_keys_str_mv AT ahmedabdulhussainali minimizingerrorinrobotarmbasedondesignoptimizationforhighstiffnesstoweightratio
_version_ 1718400372721057792

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