Resumen de Enhancing the reliability of a robotic arm through lightweighting and vibration control with modal analysis and topology optimization

Mamoun Alshihabi, Merdan Ozkahraman, Mevlüt Yunus Kayacan

• This study investigates the integration of modal analysis and topology optimization in the design of a robotic arm to enhance both its reliability and efficiency. The primary objectives are to reduce the weight and minimize the vibration of the robotic arm. Initially, the kinematics and dynamics of the robotic arm were examined to identify the joint experiencing the highest torque. Finite element analyses (FEA) were then conducted on this critical joint to assess its vibration characteristics and redesign the joint for improved performance through topology optimization. Comparative analysis of the initial and optimized designs has highlighted significant improvements in weight reduction and vibration control. The selected robot arm component was manufactured using fused deposition modeling (FDM). Experimental modal analysis validated the theoretical predictions, demonstrating the effectiveness of the optimized design. The selected component of the robotic arm was redesigned using three different topology geometries and two different unit cell sizes for each, resulting in a maximum weight reduction of 29.37%. Stresses were reduced by 41% under critical operating conditions, which contributed significantly to the system’s reliability. The improvements in efficiency were measured through reductions in weight and vibration, demonstrating the enhanced dynamic performance of the robotic arm. The optimized design was validated through experimental modal analysis, confirming the effectiveness of the redesign. This study underscores the synergy of modal analysis and topology optimization in advancing robotic arm technology, providing a comprehensive approach to design optimization for enhanced reliability.