Structural design optimization and comparative analysis of a new high-performance robot arm via finite element analysis
نویسندگان
چکیده
This paper reports the structural design of a new highperformance robot arm. Design objectives for the new arm include large (1-2 meter) workspace, low weight, 5 kg payload capacity, high sti ness, high structural vibration frequencies, precise joint-level torque control, a total of three degrees-offreedom, and mechanical simplicity. A comparative analysis is reported for four very di erent two degree-of-freedom linkage candidates using the nite element method.
منابع مشابه
Design Optimization and Comparative Analysis of a NewHigh - Performance Robot Arm via Finite Element
This paper reports the structural design of a new high-performance robot arm. Design objectives for the new arm include large (1-2 meter) workspace, low weight, 5 kg payload capacity, high stiiness, 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 diierent t...
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