Structural and Vibrational Analysis of 5DOF Robotic Arm

Structural and Vibrational
Analysis of 5DOF Robotic

Arm
ANSYS Project Report
Table of Contents
1.Introduction………………………………………………………………………………………………………………………………..2
2.Methodology
2.1. Engineering Data: .............................................................................................................................. 3
2.2. Geometry: ......................................................................................................................................... 4
2.3. Meshing: ........................................................................................................................................... 6
3.Analysis
3.1. Static Structural Analysis:.................................................................................................................. 7
3.1.1. Results of Analysis:.................................................................................................................... 7
3.1.2. Comparison of Deformation for different Force:.................................................................... 13
3.2. Vibrational Analysis:........................................................................................................................ 14
4. Conclusion……………………………………………………………………………………………………
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1. INTRODUCTION
Our Final year project is “Design and Manufacture of 5 DOF Robotic Arm”. This robotic arm
consists of 5 DOF among which 4 DOF’s are rigid links and 1 DOF is of end effector. First DOF is
the rotation of the arm about its own axis i-e along the length of the arm and other three are the
movement of links perpendicular to the plane and last DOF is of end effector which is just opening
and closing of the jaw. We are designing this arm basically for the pick and drop purpose of any
object.
This ANSYS project is consisted of two different analysis
• Structural Analysis
• Vibrational Analysis
Structural analysis
Structural analysis is the determination of the effects of loads on physical structures and
their components. Structures subject to this type of analysis include all that must withstand load.
The results of the analysis are used to verify a structure's fitness for use, often saving physical
tests. Structural analysis is thus a key part of the engineering design of structures. In the
structural analysis part, we have found the strength of our structure by varying the load and then
find the reliability of our structure for given weight.
Vibrational analysis
Vibration is a mechanical phenomenon whereby oscillations occur about an equilibrium point.
The oscillations may be periodic such as the motion of a pendulum or random such as the
movement of a tire on a gravel road. By doing vibrational analysis we can found the modal
shapes and best working conditions of the robotic arm. And we have found out the Modal
shapes of our structure by doing the vibrational i-e modal analysis.
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2. METHODOLOGY
We have done both the analysis in the ANSYS WORKBENCH. In the workbench for the static structural
and vibrational analysis, we have to follow the steps as shown in the figure.
As we are having the same geometry so most of the steps for the both analysis are same; like
Engineering Data, geometry and initial condition.
2.1. Engineering Data:

Engineering data is a source of material properties used in the analysis. Different materials are defined
in its that we can choose our respective material. We are manufacturing our robot of acrylic so we have
used acrylic for the analysis, and acrylic is not pre-defined in the pre-defined materials so first we
defined it, and we defined a library and then defined new material and give all its properties.
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2.2. Geometry:
Then we have made the respective geometry. The dimesnons of the geometry are given in the
following table;
Links Length Width (cm) Thickness

(cm) (cm)
Link 1 7 8 0.6
Link 2 21 7 0.6
Link 3 19 6 0.6
Link 4 17 3 0.6
The geometry is shown below;
Figure 1-Geometry
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Figure 2-Geometry Front View
Figure 3-Geometry Top View
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Figure 4-Geometry Side View
2.3. Meshing:
To done the both analysis meshing is required, so we have done meshing by taking the mesh size of
0.001 and then refined it from the edges as shown below. The mesh we get is shown below;
Figure 4-Meshing
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3. ANALYSIS
3.1. Static Structural Analysis:
In the static structural analysis, we have calculated the strength of the material. To find the strength we
have varied the load that this robotic arm would carry. We have done our analysis by carrying weight
from 0.5-kg to 5-kg (approx.). We applied a force at the end-effector which is actually the weight of the
carrying material.
Figure 5-Analysis
3.1.1. Results of Analysis:

After applying the load, the following analysis was done i-e we have checked the following
characteristics
• Deformation
• Von-Misses Stress
• Von-Misses Strain
• Strain Energy
We have done the analysis for the weight of 5N, that will be the actual weight of the laod our
arm would lift, and then we have done the analysis for 10N,20N upto 50N and then compare
the deformation and the results of the deformation and the diferent stresses, strain and Strain
Energy are shown and explained below;
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For 5N force (0.5-kg weight):
Figure 6-Deformation
The above figure shows the deformation of the robotic arm when a load of 5N is applied at its
end effector. it shows that when load is applied the maximum deformation is at the point of
application of load i-e the end effector. As we are moving toward base, the structure is stronger
and heavier as shown in the figure so the deformation is having a decreasing trend. The
deformation at the end-effector is maximum as shown i-e 0.0148mm and the base is having no
deformation as it is fixed. The decreasing trend of deformation can be seen from the figure as we
are moving toward base.
In our FYP, we are required to lift 0.5kg, i-e a force of 5N. So these analysis will give a good
overview about the reliability of the structure for the weight of 0.5Kg.
Figure 7-Von-Misses Stress
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The above shown figure is showing the variation of Von-Misses Stress in the arm. Von-misses
stress is widely used by designers to check whether there design will withstand the given load
condition or not. Using this information we can say that design will fail if maximum value of Von-
Misses Stress induced in the material is more than the strength of material. The variation is shown
above and it shows that the stress is maximum at the edges of the lowest link, the lowest link has
to lift the weight of all other links including the force applied at the end-effector so the maximum
stress is at the edge of the lowest link, as we can see that the maximum stress induce in the arm
is less than the maximum strength of the acrylic so the structure is fit and reliable for carrying a
weight of 0.5Kg.
Figure 8-Von-Misses Strain
The above figure shows the Von-Misses Strain. This strain also help in determination of structure
reliability. This is actually a ratio of change in length over original length. The Von-Misses strain
induced in the structure due to applied load of 5N is in the acceptable range. The maximum strain
is at the edges of lowest link (the reason is explained above).
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Figure 9-Strain Energy
The above figure shows the variation of strain energy in the arm. Strain energy is the energy
that is stored in a body due to deformation. If the body is elastic in nature, the strain energy can
be recovered though it will be in the form of mechanical energy. The stress is maximum at the
edges of the lowest as well as the strain so the energy stored in the lowest link is maximum as
shown.
From the above discussion we can easily said that the structure is perfectly reliable for the
weight of 0.5Kg.
For 10N force (1-kg weight approx.)

Now the results of the deformation, Von-misses stress, Von-misses strain and the strain energy
for the weight of body 1Kg(10N) is shown below. The trend is same as discuss above so just the
results are shown
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Figure 11-Von-Misses Stress
Figure 12-Von-Misses Strain
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Figure 13-Strain Energy
For 50N force (5-kg weight approx.)

Now the deformation for the weight of 50N is shown;
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3.1.2. Comparison of Deformation for different Force:
Force (N) Weight (Kg) (approx.) Deformation (mm)

5 0.5 0.0148
10 1 0.0296
20 2 0.0592
30 3 0.0888
40 4 0.1184
50 5 0.148
Table 1-Comparison of different forces
Above comparison is between the load and respective deformation. We have varied the value of
weight that our robot will pick. And after that we find the maximum deformation and maximum
stresses that our end effector will bear.
So from the above comparison it is clear that as we are increasing the load, deformation is
increasing linearly as shown in the graph
Deformation Trend
60
50
40
Force(N)
30
20
10
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16
Deformation(mm)
Figure 15-Deformation Trend
Deformation due to 5N weight is very small i-e 0.0148mm as compared to 50N weight i-e
0.148mm. As acrylic material is very strong we can pick the weight much greater than 5N as
shown because the deformation we get till 50N is within the acceptable range but for that
purpose we have to use powerful actuators that can bear that particular load, and that increases
the cost.
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3.2. Vibrational Analysis:

Modal analysis or Vibrational Analysis is the study of the dynamic properties of structures
under vibrational excitation. Vibrational Analysis are used to determine the natural frequencies
and mode shapes of a continuous structure. Modal analysis is the field of measuring and
analyzing the dynamic response of structures and or fluids when excited by an input.
The modal shapes and frequencies are shown below;
Modes Frequency (Hz)

1 0.3
2 1.208
3 1.3
4 1.9
5 2.23
6 2.85
Modal Frequencies
3
2.5
Frequencies-Hz.
1.5
0.5
0
1 2 3 4 5 6
No. of Modes
Figure 15-Modal Frequencies
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Figure 16-First Modal shape
Figure 17-Second Modal Shape
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Figure 18-Third Modal Shape
Figure 19-Forth Modal Shape
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Figure 20-Fifth Modal Shape
Figure 21-Sixth Modal Shape
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The modal shapes and the frequencies of the vibrations are shown in the above figures. The
deformation of arm for 6 different shapes are shown. As it is fixed from the base so there is no
deformation at the base but a visible deflection is there i-e away from the base from where it has to
carry the load.
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4. CONCLUSION
From these analysis it is concluded that 5N weight is producing appropriate deformation and
equivalent stresses as compared to other weights. Deformation and stresses of other weights are
also almost acceptable but for the optimum values we will use 5N weight for our final design.
50N weight is also acceptable on the basis of stresses and deformation but there are constraints
on the cost due to powerful actuators and for the safety of the structure. The modal Frequencies
are also in the acceptable range so the structure is completely safe.
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Structural and Vibrational Analysis of 5DOF Robotic Arm

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Structural and Vibrational Analysis of 5DOF Robotic Arm

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Structural and Vibrational

Analysis of 5DOF Robotic

This ANSYS project is consisted of two different analysis

2.1. Engineering Data:

Links Length Width (cm) Thickness

The geometry is shown below;

Figure 2-Geometry Front View

Figure 3-Geometry Top View

Figure 4-Geometry Side View

3.1.1. Results of Analysis:

For 5N force (0.5-kg weight):

Figure 7-Von-Misses Stress

Figure 8-Von-Misses Strain

Figure 9-Strain Energy

For 10N force (1-kg weight approx.)

Figure 11-Von-Misses Stress

Figure 12-Von-Misses Strain

Figure 13-Strain Energy

For 50N force (5-kg weight approx.)

3.1.2. Comparison of Deformation for different Force:

Force (N) Weight (Kg) (approx.) Deformation (mm)

Figure 15-Deformation Trend

3.2. Vibrational Analysis:

Modes Frequency (Hz)

Figure 15-Modal Frequencies

Figure 16-First Modal shape

Figure 17-Second Modal Shape

Figure 18-Third Modal Shape

Figure 19-Forth Modal Shape

Figure 20-Fifth Modal Shape

Figure 21-Sixth Modal Shape

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