Design and Analysis of a 4-DOF Telescopic Robotic Manipulator for Remote Applications

Dr.G. Suresh and Dr.D. Vinay Kumar

In case of telescopic manipulators it is difficult to control the position of the manipulator during the operation when the arms are completely extended while carrying pay load. In the present work, a 4-DOF telescopic robotic manipulator is designed and analyzed telescopic robotic manipulator using modelling and analysis software’s. The telescopic manipulator is extensively studied to meet multiple objective functions like reduction in structural weight and increase in stiffness using two different materials in order to recommend to utilize for remote applications. The work carried out on a telescopic arm manipulator with 2P2R hemispherical configuration, which is one in another arm combination, recommended when there is a space constraint in the work environment. Modeling, assembly and motion simulation of the telescopic robotic manipulator is performed by using a modeling software. Later, forward kinematics is used to find the position of the end effector using Denavit Hartenberg (D-H) method. Finally, the static structural analysis is carried out by using analysis software. In the analysis, two different materials Aluminium alloy Al-356 and CFRP-235 composite are considered. For telescopic robotic arm to predict its structural stability and the behaviour of the structure is determined by using analysis software. Structural analysis is performed on both the Aluminium alloy Al - 356 and CFRP composites and observed less deformation for the Aluminium alloy Al-356. The deformation at a minimum load of 2N for the Aluminium alloy Al - 356 and CFRP composites are 0.011373 mm & 0.027597 mm respectively. The stresses developed at different loads are almost same for both the materials of Aluminum alloy Al-356 and CFRP-235composites.The obtained stress values are lower than the yield stress of the materials so it can ensure that the design is safe under its loading conditions.

Volume 11 | 10-Special Issue

Pages: 1430-1436

DOI: 10.5373/JARDCS/V11SP10/20192988