Design and Analysis of Circular and Square Arm …
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Fig. 1 Exploded view of circular arm
a square section arm. Most commonly used material for making a robot is usually
steel or aluminum, and the usage of composite material in making a part of a robot
is very less. After reading all the data, which cross section is best feasible is cannot
be determined. This study sets a theoretic basis for an upcoming study into the cross
section of arms of an articulated robot.
3 Design
In this paper, the rectangular robotic arm is compared with the normal circular arm.
Both the cross sections are designed in Creo 5.0 Educational Edition.
3.1 Circular Cross Section
• The length of the arm in the X-direction is 1.49 m, in the Y-direction is 0.18 m
and in Z-direction is 0.18 m.
• The volume of the circular cross section is 1.2*10
–2 m
3 (Fig. 1).
3.2 Square Cross Section
• The length of the arm in the X-direction is 1.44 m, in the Y-direction is 0.18 m
and in Z-direction is 0.18 m.
• The volume of the square cross section is 1.4*10
–2 m
3 (Fig. 2).
4 DH Parameter
See Fig. 3 and Table 1.