TY - GEN
T1 - Shape optimization of robotic manipulators for maximum stiffness and load carrying capacity
AU - Lamancusa, J. S.
AU - Saravanos, D. A.
AU - Sommer, H. J.
N1 - Funding Information:
This work was partially supported by the U.S. Navy, Naval Sea Systems Command, under contract number N00024-85-C-6041.
Publisher Copyright:
© 1989 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1989
Y1 - 1989
N2 - Structural optimization can result in robotic arms with significantly improved stiffness and load carrying capacity. The geometrical shape of the manipulator links can be optimized for maximum stiffness-to-weight and strength-to-weight ratios. The problem of stiffening and strengthening a manipulator is solved by optimal redistribution of the available material without in-creasing the total mass of the manipulator. Since manipulators are programmed to move through a range of postures, thereby creating different loading conditions on the links, a multi-posture design criteria is implemented to provide a more uniform stiffness and strength over the range of possible postures. Finite element based performance criteria are developed which facilitate the simultaneous maximization of specific stiffness and strength. Three application examples on a SCARA class arm illustrate the dramatic potential for simultaneous improvements in specific stiffness and specific strength. The significance of multiple postures on the optimal design, the merits of tapered versus straight link shapes, and the relation of maximum stiffness to maximum strength, are also examined.
AB - Structural optimization can result in robotic arms with significantly improved stiffness and load carrying capacity. The geometrical shape of the manipulator links can be optimized for maximum stiffness-to-weight and strength-to-weight ratios. The problem of stiffening and strengthening a manipulator is solved by optimal redistribution of the available material without in-creasing the total mass of the manipulator. Since manipulators are programmed to move through a range of postures, thereby creating different loading conditions on the links, a multi-posture design criteria is implemented to provide a more uniform stiffness and strength over the range of possible postures. Finite element based performance criteria are developed which facilitate the simultaneous maximization of specific stiffness and strength. Three application examples on a SCARA class arm illustrate the dramatic potential for simultaneous improvements in specific stiffness and specific strength. The significance of multiple postures on the optimal design, the merits of tapered versus straight link shapes, and the relation of maximum stiffness to maximum strength, are also examined.
UR - http://www.scopus.com/inward/record.url?scp=85105584519&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85105584519&partnerID=8YFLogxK
U2 - 10.1115/DETC1989-0090
DO - 10.1115/DETC1989-0090
M3 - Conference contribution
AN - SCOPUS:85105584519
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 191
EP - 200
BT - Design Optimization
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1989 Design Technical Conferences, DETC 1989
Y2 - 17 September 1989 through 21 September 1989
ER -