Mechanical basic and detailed design for the redundant arm SAAM applied on a domestic service robot

摘要

In this paper we describe design and manufacturing process of mechanical robotic arm SAAM (seven axis anthropomorphic manipulator). The main goal is designing a suitable arm for use as a service robot arm in the home environment. Design is described in the five step: Loading analysis, Stress Analysis, Material Selection, Failure Theory consideration, Safety Factor calculation. All steps calculation are done for each part of the arm. Finally, the process of manufacturing the arm is explained and the real sample of the arm is manufactured.