Abstract
Selective compliance assembly robot arm (SCARA) has several unique characteristics with high speed, accuracy and stability in horizontal motion and so on. In order to make SCARA to have variable working radius, the big arm was designed into modular combination in this paper. The SCARA can change the length of the robot arm and further meet more industrial needs by adjusting the number of modules in the big arm. A topology optimization method based on inherent frequency and maximum stress is used to improve its strength and stiffness to reduce the weight of SCARA. The optimization model is established to optimize the topology of each module, and the optimal size is selected to increase inherent frequency and reduce maximum stress. The mass of the forepart module, the middle part module and the rear-end module of the big arm has been reduced by 13.85%, 15.3% and 13.18% respectively, which basically reach the goal of 15% optimization with significant weight loss.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
