Structural design optimization and comparative analysis of a new high-performance robot arm via finite element analysis

Abstract

This paper reports the structural design of a new high-performance robot arm. Design objectives for the new arm include large (1-2m) workspace, low weight, 5 kg payload capacity, high stiffness, high structural vibration frequencies, precise joint-level torque control, a total of three degrees-of-freedom, and mechanical simplicity. A comparative analysis is reported for four very different two degree-of-freedom linkage candidates using the finite element method.