- All Journals
- Al-Qadisiyah University
- Basrah University
- Kirkuk University
- Mosul University
- The Iraqi Borad for Medical Specialization
- University of Anbar
- University of Technology
- Al Mustafa University
- Al-Zahraa University for Women
- Alnoor University
- Kunooz University
- Misan University
- Ninevah University
- Tikrit University
- University of Al-Hamdaniya
- University of Kerbala
Minimizing error in robot arm based on design optimization for high stiffness to weight ratio. | ||
| Al-Khwarizmi Engineering Journal | ||
| Article 1, Volume 4, Issue 1, 2008, Pages 17-26 | ||
| Author | ||
| Ahmed Abdul Hussain Ali | ||
| Abstract | ||
| In this work the effect of choosing tri-circular tube section had been addressed to minimize the end effector’s error, a comparison had been made between the tri-tube section and the traditional square cross section for a robot arm, the study shows that for the same weight of square section and tri-tube section the error may be reduced by about 33%.A program had been built up by the use of MathCAD software to calculate the minimum weight of a square section robot arm that could with stand a given pay load and gives a minimum deflection. The second part of the program makes an optimization process for the dimension of the cross section and gives the dimensions of the tri-circular tube cross section that have the same weight of the corresponding square section but with less deflection. | ||
| Keywords | ||
| robot arm stiffness; flexible manipulator; robot structure analysis; flexible link robot | ||
|
Statistics Article View: 160 PDF Download: 59 |
||