Hostname: page-component-78c5997874-fbnjt Total loading time: 0 Render date: 2024-11-14T11:15:41.778Z Has data issue: false hasContentIssue false
  • English
  • Français

Mechanical design for assembly of a 4-DOF robotic arm utilizing a top-down concept

Published online by Cambridge University Press:  02 March 2021

N. Banka  and
Y.J. Lin
N. Banka
Affiliation:
Department of Mechanical Engineering, The University of Akron, kron, OH44325-3903 (USA)
Y.J. Lin
Affiliation:
Department of Mechanical Engineering, The University of Akron, kron, OH44325-3903 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper proposes an effective top-down design approach for the mechanical design for assembly of a four degree-offreedom revolute jointed robotic arm. The design process begins by specifying top-level design criteria and passing down these criteria from the top level of the manipulator’s structure to all of the subsequent components. With this proposed approach, the sequential design intents are captured, organized and implemented based on the entire system’s objectives, as opposed to the conventional design process which aims at individual components’ optimization. By considering the mechanical arm’s performance objectives, the design starts with modeling the integration of all the individual links constituting the manipulator. During the design process, modifications are made based on the integrated information of kinematics, dynamics, and structural analyses of the desired robot configurations as a whole. An optimum assembly design is then achieved with workable subdesigns of the manipulator components. As a result, the proposed approach for manipulator design yields substantially less number of iterations, automatic propagation of design changes, and great saving of design efforts. Thus, it is suitable and can be used as a guideline for design automation purposes of complex systems such as robotic arms.

Keywords

Top-down conceptMechanical designRobotic arm
Type
Research Article
Information
Robotica , Volume 21 , Issue 5 , October 2003 , pp. 567 - 573
Copyright
Copyright © Cambridge University Press 2003

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. New for Release 20.0, “Top-Down Design Task Guide™” (Parametric Technology Corporation, DOC-U0169P-EN-200, 1998).Google Scholar
2. Koh, B.K. & Park, G.J., “Design of automobile exhaust system using top-down approach design methodology”, Int. J. of Vehicle Design 17, No. 3, 276–294 (1996).Google Scholar
3. Koich, K., Hiromasa, S., Hidetoshc, A. and Fumihiko, K., “A product modeling system for top-down design of machine assembly with kinematic motion”, Robotics & Computer Integrated Manufacturing 10, Nos. 1/2, 49–55 (1993).Google Scholar
4. Liesbon, S.H., “Developing CAE tools for top-down design of complex systems”, EDN 33, 130–136 (March, 1999).Google Scholar
5. Mantripragada, R., Adams, J.D., Rhee, S.H. and Whitney, D.E., “Integrated tools for top-down assembly design and analysis”, Proceedings of the 1999 IEEE International Conference on Robotics & Automation, Detroit, Michigan (May, 1999) pp. 1218–1223.Google Scholar
6. De Fazio, et al., “Prototype of feature-based design for assembly”, J. Mechanical Design, Transactions of the ASME 15, No. 4, 723–734 (1993).CrossRefGoogle Scholar
7. De Fazio, T.L., Rhee, S.J., Whitney, A. and Daniel, E., “Designspecific approach to design for assembly (DFA) for complex mechanical assemblies”, IEEE Transactions on Robotics and Automation 15, No. 5, 869–881 (1999).CrossRefGoogle Scholar
8. Eng, T., Ling, Z., Olson, W. and McLean, C., “Feature-based assembly modeling and sequence generation”, Computers and Industrial Engineering 36, No. 1, 17–33 (1999).CrossRefGoogle Scholar
9. Chuang, W. and O’Grady, P., “Assembly process visualization in feature based design for assembly”, Int J. Agile Management Systems 1, No. 3, 177–189 (1999).CrossRefGoogle Scholar
10. Whitney, D.E., Mantripragada, R., Adams, J.D. and Rhee, S.J., “Designing Assemblies”, Research in Engineering Design – Theory, Applications, and Concurrent Engineering 11, No. 4, 229–253 (1999).Google Scholar
11. Libardi, E.C., Dixon, J.R. and Simmons, M.K., “Computer environments for the desig of mechanical assemblies: a research review”, Eng. Comput. 121–135 (1998).Google Scholar
12. Kikkawa, K., Suzuki, H., Ando, H. and Kimura, F., “A product modeling system for top-down design of machine assembly with kinematic motion”, Robotics and Computer Integrated Manufacturing 10, No. 2, 49–55 (1998).CrossRefGoogle Scholar
13. Mantripragada, R. and Whitney, D.E., “The datum flow chain: A systematic approach to assembly design and modeling”, Research in Engineering. Design – Theory, Applications, and Concurrent Engineering 10, No. 3, 150–165 (1998).Google Scholar
14. Gui, J. and Mantyla, M., “Functional understanding of assembly modeling”, Computer Aided Design 26, No. 6, 435–451 (1994).CrossRefGoogle Scholar
15. Mantyla, M., “A modeling system for top-down design of assembled products”, IBM J. Res. Develop. 34, No. 5, 141–155 (1990).CrossRefGoogle Scholar
16. Lin, Y.J. and Banka, N., “Mechanical Design for Assembly of a 4-DOF Robotic Arm Utilizing Top-Down Concept”, Proceedings of 2002 Japan-USA Symposium on Flexible Automation. Hiroshima, Japan (July, 2002), Vol. 1, pp. 321–328.Google Scholar
17. Wolovich, W.A., Robotics: Basic Analysis and Design (Holt, Rinehart and Winston, 1987).Google Scholar
18. Mavroidis, C. and Roth, B., “Analysis of overconstrained mechanisms”, Journal of Mechanical Design, Transactions of the ASME 117, No. 1, 69–74 (1995).CrossRefGoogle Scholar
19. Fields, A., Youcef-Toumi, K. and Asada, H., “Flexible fixturing and automatic drilling of sheet metal parts using a robot manipulator”, Robotics and Computer-lntegrated Manufacturing 5, No. 4, 371–380 (1989).CrossRefGoogle Scholar
20. Carl Crane, D. III and Joseh Duffy, Kinematics Analysis of Robot Manipulators (Cambridge University Press, Cambridge, MA, 1998).CrossRefGoogle Scholar