Structural Analysis of a Revolute Pick and Place Robot

Jesse Fortin, Vincent Algieri, Bennet Jorgensen, Michael Barone, and Joseph Dinsmore

Abstract:
The objective of this project is to examine the deformation under static load of a “pick and place” robot with 2 revolute joints. The structural rigidity of the robot links and the compliance at the joints affect deformation. The overall geometry and the size of the links are of importance. The objective is addressed in several stages.

A geometry responsive to the needed work envelope is generated with a Computer Aided Design (CAD) package.

Next, the dimensions of the links, which includes information about the length and cross section geometry, is selected. These are variable parameters that affect properties such as moment of inertia.

Geometric Dimensioning and Tolerancing (GDT) during the prototyping process will also influence deformation under load. Therefore, these are taken into account while creating the CAD solid models. After assessing several feasible geometries, a 3d solid model is tested by applying static load at the location of the end effector. The results of the analysis highlight the impact of different design parameters on the rigidity of a revolute robot arm.