ISSN 2319-8885

Vol.04,Issue.33,
August-2015,
Pages:6692-6697
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Modeling and Analysis of Robot ARM using ANSYS

JEEVAN1, DR. AMAR NAGESWARA RAO2
1
PG Scholar, Dept of MECH, NIMRA Group of Colleges, Jupudi, Vijayawada, AP, India.
2
Associate Professor, Dept of MECH, NIMRA Group of Colleges, Jupudi, Vijayawada, AP, India.

Abstract: The mechanical design, structural analysis, and results verification of a new high performance semi-direct drive robot
arm. A design optimization methodology employing finite element analysis (FEA) is reviewed, and a resulting arm design is
reported. FEA simulations of the final design predict high structural vibration frequencies throughout the arms workspace.
Extensive structural vibration experiments with the completed manipulator confirm the predicted structural vibration
characteristics throughout the arm's workspace .Modal and structural analysis of the model is performed for analysis the structural
parameters.

Keywords: Finite Element Analysis (FEA), Mechanical Design, Structural Analysis.

I. INTRODUCTION The paper takes four different models of robot arm as an

Robot is a machine that collects the information about example, and builds finite element three dimensional model
the environment using some sensors and makes a decision by using Finite Element Analysis software ANSYS15
automatically. People prefers it to use different field, such Workbench. The natural frequencies and strength parameters
as industry, some dangerous jobs including radioactive are analyzed from modal analysis and structural analysis.
effects. In this point, robots are regarded as a server. They
II. GEOMETRY OF ROBOT ARM
can be managed easily and provides many advantages.
The 3D finite element models of Solid Square, Hollow
Robot kinematics is the study of the motion(kinematics) of
Square, Solid Circular and Hollow Circular shaped are build
robots. In a kinematic analysis the position, velocity and
in a design software. These geometries are build on the basis
acceleration of all the links are calculated without
of scaling the original dimensions as shown in Figs.2 to 5.
considering the forces that cause this motion. The
relationship between motion, and the associated forces and A. Model Of Solid Square Robot Arm
torques is studied in robot dynamics. A robot arm is known
manipulator. It is composed of a set of jontsseperated in
space by the arm links. The joints are where the motion in
th arm occurs. In basic, a robot arm consists of the parts:
base, joints, links, and a gripper. The base is the basic part
over the arm, It may be fix or active. The joint is flexible
and joins two seperated links. The link is fix and supports
the gripper. The last part is a gripper. The gripper is used to
holdand move the objects. Fig.1 shows these parts. In the
report, the manipulator types are defined in details.
(a)Base

(b)Arm
Fig.1. robot arm.

Copyright @ 2015 IJSETR. All rights reserved.

 JEEVAN, DR. AMAR NAGESWARA RAO
C. Model of Solid Circular Robot Arm

(c) Solid Square Robot Arm

Fig.2. Model Of Solid Square Robot Arm. (a)Base
B. Model of Hollow Square Robot Arm

(b)Arm

(a)Base

(c) Solid Circular Robot Arm

Fig.4. Model of Solid Circular Robot Arm.
(b)Arm D. Model Of Hollow Circular Robot Arm

(c) Hollow Square Robot Arm

Fig.3. Model of Hollow Square robot arm. (a)Base
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.33, August-2015, Pages: 6692--6697
 Modeling and Analysis of Robot ARM Using ANSYS
Solution:
 Define type of analysis.
 Set boundary conditions.
 Apply loads.
 Initiate finite element solution.
Post Processing:
 Review results using graphical displays and
tabular listings.
 Verify against analytical solutions.
IV. RESULTS AND DISCUSSIONS
The aim of modal analysis for Robot arm system by
(b)Arm using the finite element software is to find out the natural
frequency and its corresponding vibration mode shapes of
the system. These parameters are mainly influenced by the
structure types and constraint conditions without loads and
results as shown in Figs.6 to 13.
A. Modal Analysis

(c) Hollow Circular Robot Arm

(a)

(d) Rod
Fig.5. Model Of Hollow Circular Robot Arm.

III. ANALYSIS (b)

Basic theme of Finite Element Analysis is to make
calculations at only limited (Finite) number of points and
then interpolate the results for entire object. It is a
numerical method which uses mathematical representation
of actual problem and gives approximate results. ANSYS is
a finite element analysis software package
 Capable of analyzing a range of engineering
applications: - Structural - Thermal -
Electromagnetic - Fluid Dynamics.
 Unit less analysis, but must be consistent
throughout.
A. Processors
Preprocessing:
 Define element type, real constants, and material (c)
properties. Define geometry Processors. Fig.6.Mode shapes of Solid Square Robot Arm system
(a) Mode 1(b) Mode 2(c) Mode 3.
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.33, August-2015, Pages: 6692-6697
 JEEVAN, DR. AMAR NAGESWARA RAO

(a)
(b)

(b) (c)
Fig.8.Mode shapes of Solid Circular Robot Arm system
(a) Mode 1(b) Mode 2(c) Mode 3.

(c)
Fig.7.Mode shapes of Hollow Square Robot Arm system (a)
(a) Mode 1(b) Mode 2(c) Mode 3.

(b)
(a)
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.33, August-2015, Pages: 6692--6697
 Modeling and Analysis of Robot ARM Using ANSYS

(b)
(c) Fig.11. (a) Equivalent Stress (b) Total Deformation.
Fig.9. Mode shapes of Hollow Circular Robot Arm Solid Circular Robot Arm System:
system (a) Mode 1 (b) Mode 2 (c) Mode 3.
B. Structural Analysis
Solid Square Robot Arm System:

(a)

(a)

(b)
Fig.10. (a) Equivalent Stress (b) Total Deformation.
Hollow Square Robot Arm System:
(b)
Fig.12. (a) Equivalent Stress (b) Total Deformation.
Hollow Circular Robot Arm System:

(a) (a)
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.33, August-2015, Pages: 6692-6697
 JEEVAN, DR. AMAR NAGESWARA RAO
Conference on Robotics and Automation. Philadelphia, PA,
pp482- 487.
[6]Haubach, C. (2002) “Flexible Robots-an Example of
Stochastic Structural Optimization”. www.stoch.net/ daten/
publica1.htm#A
[7]Hearn, E. g. (1977). “Mechanics of Materials”,
Pergamon Press LTD.
[8]Henessey, M. P.; Priebe, J. A.; Paul, C. H. and
Grommes, R. J. (2000) “Design of a Lightweight Robotic
Arm and Controller,” IEEE Conference on Robotics and
Automation, Raleigh, NC. P.P.779-785.
[9]Jaydeep Roy and Louis, L. Whitcomb. (1999).
“Comparative Structural Analysis of 2-DOF Semi-Direct-
Drive Linkages for Robot Arms”, IEEE/ASME
(b) Transactions on Mechatronics, Vol.4, No.1, pp.82-86.
Fig.13. (a) Equivalent Stress (b) Total Deformation. [10]Leu, M. C.; Dukovski, V. and wang, K. K. (1985). “An
TABLE I: Modal Analysis Analytical and Experimental Study of the Stiffness of
Robot Manipulators with Parallel Mechanism”, ASME
Robotics and Manufacturing Automation, Vol.15, P.P.137-
143.

TABLE II: Structural Analysis

V. CONCLUSION
From the Modal analysis, the robot arm different structures
are analyzed and found that the natural frequency that the
structure sustains is higher for circular shaped robot arm
structure either hollow or solid it is observed that circular
shaped sustains more vibrations than square shaped robot
arm structures. From the Structural analysis, the results
show that circular shaped robot arm’s equivalent stress and
deformation are comparatively better since stresses raised
are lower. The results obtained are under safe design limits,
hence the analysis is said to be correct.
VI. REFERENCES
[1]Abdel-Malek, K. and Paul, B. (1998). “Criteria for the
Design of Manipulator Arms for a High Stiffness to Weight
Ratio”, SME Journal of Manufacturing Systems, Vol. 17,
No. 3, P.P.209-220.
[2]Alazard, D.; Chretien, J. P. (1992). “The Impact of Local
Masses and Inertias on the Dynamic Modeling of Flexible
Manipulators”.
[3]Ceccarelli, M.; Carobone, G. and Ottaviano, E. (2005).
“Multi Criteria Optimum Design of Manipulators”, Bulletin
technical sciences Vol.53, No.1, P.P.9-18.
[4]Edward Mebarak. (2003). “On the Development of an
Automated Design Procedure to Design Optimal Robots”,
Florida International University, Miami, Florida.
[5]Fresonke, D. A.; Hernandez, E. and Tesar, D. (1993).
“Deflection Predictions for Serial Manipulators”, in IEEE
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.33, August-2015, Pages: 6692--6697