Title: Structural optimisation method of six degrees of freedom manipulator based on finite element analysis

Authors: Shudong He

Addresses: Intelligent Manufacturing and Mechanical Engineering, Hunan Institute of Technology, Hengyang, 421002, China

Abstract: In order to improve the optimisation effect of the robotic arm structure from multiple aspects, this paper designs a six degree of freedom robotic arm structure optimisation method based on finite element analysis. Firstly, the relative motion relationship between the rotating joint and the connecting rod was established based on the D-H theory. Then, we divide the mesh elements of the robotic arm structure in ANSYS software and analyse the parameter optimisation redundancy of the robotic arm. Finally, an optimisation equation set was established, and feasible structural optimisation parameters were obtained through solving and finite element verification. The experimental results show that under different load conditions, the maximum load of the robotic arm is increased to 14 kg, the mass of the robotic arm is reduced by about 11%, and the maximum stress is reduced to 13.54 MPa. At the same time, the reachable distance of the robotic arm in three-dimensional space is significantly increased.

Keywords: six degrees of freedom mechanical arm; mechanical arm structure; D-H theory; kinematics model; ANSYS software; optimisation margin.

DOI: 10.1504/IJMPT.2024.136844

International Journal of Materials and Product Technology, 2024 Vol.68 No.1/2, pp.71 - 85

Received: 20 Jul 2023
Accepted: 06 Nov 2023
Published online: 22 Feb 2024 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article