Performance Investigation of Topologically Optimized Manipulator Link

Back to Journal

Home»Articles»Performance Investigation of Topologically Optimized Manipulator Link

Performance Investigation of Topologically Optimized Manipulator Link

Author : Aditya Kulkarni and Arshad Javed
Volume 3 No.2 July-December 2014 pp 47-50.

Abstract

Reducing weight of components in a manipulator is the need of robotic industry, not only to save cost by reducing the material but also to optimize the power consumption. Hence, topology optimization of manipulator links has wider scope to research and deliver the best possible solutions to design a system. The paper focus on investigating the performance of the link using topology optimization and dynamic modeling. In this work, topology optimization is utilized to generate optimum shape and size of link, finite element approach is adopted in finding the inertia of the given body, deflection with stress and followed by kinematic modeling. Further trajectory planning is done and Lagrange-Euler formulation is applied to find out required joint-torque values for each increment of motion.

Keywords

Robotic/Manipulator-link, Mass reduction, Joint-Torque reduction, Topology optimization, SIMP.

Full Text:

References

Asian Journal of Engineering and Applied Technology is a peer-reviewed International research journal aiming at promoting and publishing original high quality research in all disciplines of engineering and applied technology. All research articles submitted to AJEAT should be original in nature, never previously published in any journal or presented in a conference or undergoing such process across the world. All the submissions will be peer-reviewed by the panel of experts associated with particular field. Submitted papers should meet the internationally accepted criteria and manuscripts should follow the style of the journal for the purpose of both reviewing and editing.

AJEAT is covering all aspects of Engineering and Applied Technology areas. Topics include, but are not limited to:

Aerospace engineering Agricultural engineering Architectural engineering Bioengineering and biomedical engineering Chemical engineering Civil engineering Computer engineering Computer science and information science Electrical engineering and electronics engineering Environmental engineering	Industrial engineering Metallurgical engineering Ceramic engineering Materials science Metallurgy Mechanical engineering Nuclear engineering Petroleum engineering Plastics engineering and polymer science Textile & Fashion Technology