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116706

Topology Optimization of High-Speed Flexible Robot Arms.

Article

Last updated: 22 Jan 2023

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Subjects

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Tags

Production Engineering and Mechanical Design

Abstract

There are growing demands in the robot industry for light structures in order to increase the speed of the robot motion and thus the productivity. Size and shape optimization are carried out previously to achieve minimum traveling time of the robot arm taking into consideration its flexibility. In this work, topology optimization is introduced for obtaining optimum robot arm to achieve minimum traveling time from both structure and control viewpoints. Method of Moving Asymptotes is used as optimization technique, because it can handle arbitrary number of constrains and considered to be a general and flexible optimization method. A comparison is accomplished between the optimal resulted design and its initial design for different dimensions of robot arm neglecting air damping. It is found that the reduction ratio of the travelling time reaches 62% and the reduction ratio of the weight reaches 70%. A comparison between this work using topology optimization of flexible robot arm outperforms the size and the shape optimization when considering the real condition that takes into account the air damping. The optimum topological design in this case gives reduction ratio of travelling time equals 44.8%, while previous work gives 23.5%.

DOI

10.21608/bfemu.2020.116706

Authors

First Name

M.

Last Name

Fanny

MiddleName

-

Affiliation

Associate professor., Production Engineering and Mechanical Design Department., Faculty of Engineering., El-Mansoura University., Mansoura., Egypt.

Email

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City

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Orcid

-

First Name

Mohamed

Last Name

Shabara

MiddleName

Ahmed Nasr

Affiliation

professor of Production Engineering and Mechanical Design Department., Faculty of Engineering., El-Mansoura University., Mansoura., Egypt.

Email

-

City

-

Orcid

-

First Name

M.

Last Name

Alkalla

MiddleName

G.

Affiliation

Demonstrator., Production Engineering and Mechanical Design Department., Faculty of Engineering., El-Mansoura University., Mansoura., Egypt.

Email

-

City

Mansoura

Orcid

-

Volume

38

Article Issue

1

Related Issue

15576

Issue Date

2013-03-01

Receive Date

2013-02-01

Publish Date

2020-10-03

Page Start

103

Page End

116

Print ISSN

1110-0923

Online ISSN

2735-4202

Article File

BFEMU_Volume 38_Issue 1_Pages 103-116.pdf

PDF . 18.5MB

Link

https://bfemu.journals.ekb.eg/article_116706.html

Detail API

https://bfemu.journals.ekb.eg/service?article_code=116706

Order

13

Type

Research Studies

Type Code

1,205

Publication Type

Journal

Publication Title

MEJ. Mansoura Engineering Journal

Publication Link

https://bfemu.journals.ekb.eg/

MainTitle

-

Details

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Article

Created At

22 Jan 2023