Optimum dynamic design of flexible robotic manipulator

A closed form solution to Optimum Dynamic Design (ODD) of a flexible link Robotic Manipulator is derived considering the link to be the Euler–Bernoulli beam. The Finite Element Model (FEM) for dynamic equation is solved to maximize the stiffness and minimize the mass in the formulation of ODD procedure. The optimum pre-assigned parameters of link end deflections and the maximum payload capacity form the constraint inputs. The redundant progressive series formed as an objective function is solved by Optimal Interface Theory, briefed in the Appendix. The philosophy of Interface Theory lies in the observation that with the progression, the grip improves and the grasp diminishes under the loads of the physical world problems. For the theoretical analysis, the manipulator link is considered to be a revolute jointed with two degrees of freedom (DOF)—a deflection and a rotation at each node. Based on the requirements of better productivity and higher precision in high speed industrial robots, the platform for the maximization of stiffness, minimization of mass has been prepared to demonstrate the ODD procedure. In the ODD problem, the deflection, velocity and acceleration vectors act as grip coefficients and the stiffness, damping and the mass are considered as the grasp variables.