Multi-body dynamic optimization for upper arm of industrial manipulator

Abstract

The usage of industrial manipulators is increasing globally due to its superiority. A topology optimization approach is a promising method to optimize the structural components of a robot to make energy-efficient. Topology optimization distributes the material in the design space based on solid isotropic material with a penalization approach. The ABB IRB-120 multi-body industrial manipulator is chosen here for dynamic analysis at maximum reach conditions. The upper arm of the manipulator is subjected to the topology optimization problem because it plays a vital role in dynamic performance. The one end of a manipulator is submitted to a fixed support, and another end experiences the forces and torque. Required constraints can be calculated employing multi-body dynamics simulations using ADAMS software. The objective function of the optimization chosen as the best stiffness to weight ratio for volume fraction values ranging from 0.2 to 0.7. The static analysis and topology study are simulated and analyzed using SOLIDWORKS software for given constraints and boundary conditions. The simulation results, such as deformation, and Von-Mises stress for optimized links at different volume fractions are compared with the initial design.