Shape optimum design of robotic manipulators with static performance criteria

D. A. Saravanos; J. S. Lamancusa; H. J. Sommer

doi:10.1115/DETC1987-0061

Shape optimum design of robotic manipulators with static performance criteria

D. A. Saravanos, J. S. Lamancusa, H. J. Sommer

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Scopus citations

Abstract

The end effector deflections of robotic manipulators may be minimized by optimizing the geometric shape and the dimensions of their links. A multiple posture static performance criterion for the prediction of the shape optimum design is presented. An efficient optimization algorithm is developed for the solution of the problem using finite element modeling to predict the compliance of the robotic arm. The method is applied to an existing robotic arm, and the results demonstrate that simple alterations to the dimensions and the shape of the links can greatly improve, not only the stiffness, but also the stiffness/mass ratio and consequently the vibrational response of the manipulator structure.

Original language	English (US)
Title of host publication	Robotics, Mechanisms, and Machine Systems
Publisher	American Society of Mechanical Engineers (ASME)
Pages	37-44
Number of pages	8
ISBN (Electronic)	9780791897744
DOIs	https://doi.org/10.1115/DETC1987-0061
State	Published - 1987
Event	ASME 1987 Design Technology Conferences, DETC 1987 - Boston, United States Duration: Sep 27 1987 → Sep 30 1987

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	2

Conference

Conference	ASME 1987 Design Technology Conferences, DETC 1987
Country/Territory	United States
City	Boston
Period	9/27/87 → 9/30/87

All Science Journal Classification (ASJC) codes

Mechanical Engineering
Computer Graphics and Computer-Aided Design
Computer Science Applications
Modeling and Simulation

Access to Document

10.1115/DETC1987-0061

Cite this

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title = "Shape optimum design of robotic manipulators with static performance criteria",

abstract = "The end effector deflections of robotic manipulators may be minimized by optimizing the geometric shape and the dimensions of their links. A multiple posture static performance criterion for the prediction of the shape optimum design is presented. An efficient optimization algorithm is developed for the solution of the problem using finite element modeling to predict the compliance of the robotic arm. The method is applied to an existing robotic arm, and the results demonstrate that simple alterations to the dimensions and the shape of the links can greatly improve, not only the stiffness, but also the stiffness/mass ratio and consequently the vibrational response of the manipulator structure.",

author = "Saravanos, {D. A.} and Lamancusa, {J. S.} and Sommer, {H. J.}",

note = "Publisher Copyright: {\textcopyright} 1987 American Society of Mechanical Engineers (ASME). All rights reserved.; ASME 1987 Design Technology Conferences, DETC 1987 ; Conference date: 27-09-1987 Through 30-09-1987",

year = "1987",

doi = "10.1115/DETC1987-0061",

language = "English (US)",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers (ASME)",

pages = "37--44",

booktitle = "Robotics, Mechanisms, and Machine Systems",

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Saravanos, DA, Lamancusa, JS & Sommer, HJ 1987, Shape optimum design of robotic manipulators with static performance criteria. in Robotics, Mechanisms, and Machine Systems. Proceedings of the ASME Design Engineering Technical Conference, vol. 2, American Society of Mechanical Engineers (ASME), pp. 37-44, ASME 1987 Design Technology Conferences, DETC 1987, Boston, United States, 9/27/87. https://doi.org/10.1115/DETC1987-0061

Shape optimum design of robotic manipulators with static performance criteria. / Saravanos, D. A.; Lamancusa, J. S.; Sommer, H. J.
Robotics, Mechanisms, and Machine Systems. American Society of Mechanical Engineers (ASME), 1987. p. 37-44 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Shape optimum design of robotic manipulators with static performance criteria

AU - Saravanos, D. A.

AU - Lamancusa, J. S.

AU - Sommer, H. J.

PY - 1987

Y1 - 1987

N2 - The end effector deflections of robotic manipulators may be minimized by optimizing the geometric shape and the dimensions of their links. A multiple posture static performance criterion for the prediction of the shape optimum design is presented. An efficient optimization algorithm is developed for the solution of the problem using finite element modeling to predict the compliance of the robotic arm. The method is applied to an existing robotic arm, and the results demonstrate that simple alterations to the dimensions and the shape of the links can greatly improve, not only the stiffness, but also the stiffness/mass ratio and consequently the vibrational response of the manipulator structure.

AB - The end effector deflections of robotic manipulators may be minimized by optimizing the geometric shape and the dimensions of their links. A multiple posture static performance criterion for the prediction of the shape optimum design is presented. An efficient optimization algorithm is developed for the solution of the problem using finite element modeling to predict the compliance of the robotic arm. The method is applied to an existing robotic arm, and the results demonstrate that simple alterations to the dimensions and the shape of the links can greatly improve, not only the stiffness, but also the stiffness/mass ratio and consequently the vibrational response of the manipulator structure.

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PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 1987 Design Technology Conferences, DETC 1987

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ER -

Shape optimum design of robotic manipulators with static performance criteria

Abstract

Publication series

Conference

All Science Journal Classification (ASJC) codes

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