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RESEARCH PAPERS

Shape Optimization of Flexible Robotic Manipulators

[+] Author and Article Information
U. S. Dixit, R. Kumar, S. K. Dwivedy

Mechanical Engineering Department, Indian Institute of Technology, Guwahati, 781039, India

J. Mech. Des 128(3), 559-565 (Aug 12, 2005) (7 pages) doi:10.1115/1.2181606 History: Received March 16, 2005; Revised August 12, 2005

In this work, the problem of shape optimization of flexible robotic manipulators of circular cross sections is studied. Two different manipulators are considered—a manipulator with revolute joint and a roller supported Cartesian manipulator. The finite element method is used to find the natural frequency and dynamic response of a flexible manipulator by treating it as an Euler-Bernoulli beam. The cross-sectional diameter is varied along the length keeping the constraint on the mass of the manipulator and static tip deflection in order to maximize the fundamental frequency of the beam. This optimization problem is compared with other optimization problems (with different objective functions and constraints). It is observed that the proposed optimization problem is superior to other optimization problems.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 3

Bang-bang torque/force profile for revolute/Cartesian manipulator

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Figure 4

Cross-sectional radius along the length of the manipulator obtained by solving different optimization problems (I, II, etc. indicate the optimization problem used to obtain the shape)

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Figure 5

Static deflection for solid revolute manipulator for shapes obtained by solving different optimization problems

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Figure 6

Effect of tip mass ratio (μ) on shape of solid revolute manipulator obtained by solving optimization problem III

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Figure 7

Effect of tip mass ratio (μ) on shape of hollow revolute manipulator obtained by solving optimization problem III

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Figure 2

(a) Configuration of a flexible Cartesian manipulator system, (b) a typical finite element

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Figure 1

(a) Configuration of a flexible revolute manipulator system, (b) a typical finite element

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