Shape optimum design of robotic manipulators with static performance criteria

D. A. Saravanos, J. S. Lamancusa, H. J. Sommer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


The end effector deflections of robotic manipulators may be minimized by optimizing the geometric shape and the dimensions of their links. A multiple posture static performance criterion for the prediction of the shape optimum design is presented. An efficient optimization algorithm is developed for the solution of the problem using finite element modeling to predict the compliance of the robotic arm. The method is applied to an existing robotic arm, and the results demonstrate that simple alterations to the dimensions and the shape of the links can greatly improve, not only the stiffness, but also the stiffness/mass ratio and consequently the vibrational response of the manipulator structure.

Original languageEnglish (US)
Title of host publicationRobotics, Mechanisms, and Machine Systems
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages8
ISBN (Electronic)9780791897744
StatePublished - 1987
EventASME 1987 Design Technology Conferences, DETC 1987 - Boston, United States
Duration: Sep 27 1987Sep 30 1987

Publication series

NameProceedings of the ASME Design Engineering Technical Conference


ConferenceASME 1987 Design Technology Conferences, DETC 1987
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation


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