AS Bhongade
Aaditya Raje
Abstract
Many robotic arm links used in the industries are made up of metals. Metals possess some inherent properties like malleability, ductility, tensile strength, fatigue strength etc. Because of such properties in practical applications, links of robotic manipulator tends to bend in the minor extent under load applied to the end effector. This bending of links produces positioning error at end effector of a robotic manipulator. These errors are dependent on physical properties of metals, positions, length of links of a robotic manipulator etc. This work aims to select proper material and link parameter as per the particular application. It calculates the positioning error of end effector of the robotic manipulator using three different materials namely structural steel, aluminium alloy and grey cast iron at three different positions. The computational experiments were conducted for three different lengths of links of a robotic manipulator. The above experiments are again carried out for robotic arm having gear mechanism between the links for three materials, at three positions and with different link lengths. The errors between ideal and simulated values are recorded. It is found that mean error is more in aluminium than grey cast iron and structural steel.Keywords- Robotic manipulator, positioning error, ansys workbench, RoboAnalyzer, length of links, computer aided engineering