Structural Design and Analysis of a New Semi-Direct Drive Robot Arm: Theory and Experiment

This paper reports the mechanical design, structural analysis, and experimental veri cation of a new high performance semi-direct drive robot arm. A design optimization methodology employing nite element analysis FEA is reviewed, and a resulting arm design is reported. FEA simulations of the nal design predict high structural vibration frequencies throughout the arms workspace. Extensive structural vibration experiments with the completed manipulator con rm the predicted structural vibration characteristics throughout the arm's workspace.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Jaydeep Roy, Randal P. Goldberg, Louis L. Whitcomb
• Keywords: Drive Robot Arm, ICRA 2000, Predicted Structural Vibration, Robotics, Structural Vibration