Design Optimization Application for a Flexible Robot Manipulator

Abstract

In this chapter, design optimization is performed for a single-link flexible manipulator driven by a standard trapezoidal velocity input. The mass of the original manipulator is reduced by a quarter by design optimization without changing the payload. The finite element model, which is one of the non-rigid models, and topology optimization were utilized for the application. Dynamic stress and natural frequencies of the system are utilized as optimization objectives. The results were compared with the original manipulator in terms of both safety factor and vibration modes. In addition, the system parameters were compared with the tapered beam, and beam with reduced width, which was prepared to have the same mass as the optimized designs. As a result, although the mass of the original manipulator was reduced by one-fourth with the proposed design, it was observed that the dynamic stresses decreased. The study is expected to have significant implications in terms of improving the benefits of flexible robots and providing a contribution to the attenuation of vibrations and stresses.