Static force, torque and structural analysis of 5R robotic arm — Simulation and practical implementation

Abstract

Robotic arms in industries encompassing long assembly lines has increased in vein of achieving automated and increased production. Material selection for utilization of robotic arms in such environments entails significant importance. Material selected has to interact with everyday job atmosphere and must withstand the forces applied at the end effector. Two commonly available materials Aluminum and Poly-methyl methacrylate were considered for designing of 5R robotic arm. Static force and torque analysis depicted the torques required in case of Aluminum slightly more as compared to those required in case of Poly-methyl methacrylate. Static structural analysis showed the total deformation experienced by Aluminum to be between 0.0148 to 0.1480 mm when end effector was subject to applied load of 5, 10, 20, 30, 40 and 50 N respectively, however, poly-methyl methacrylate reached the yield point when subjected to 40 N force. Therefore, based on reliable machineability, serviceability, static torque and structural analysis, aluminum was selected over Poly-methyl methacrylate, and was used for fabrication of 5R robotic arm.