Lagouge TARTIBU KWANDA Mechanical Engineering ON THE USE OF PARAMETRIC OPTIMIZATION OF A ROBOT BASE ASSEMBLY MODEL USING FEA Lagouge TARTIBU KWANDA Mechanical Engineering

Outline Introduction The Phases or Processes of Design Finite element analysis (FEA) Robot base assembly optimization Results

Introduction

Engineering design: Car design Customers: Maximum reliability at lower cost Designers: Maximum reliability results in higher cost Engineering design: Car design Conflicting criteria

The worst case scenario is used to dimension the structure Structural analysis The worst case scenario is used to dimension the structure Load 1 Load 2 Load 3 Multiple scenario

The Phases or Processes of Design

Analysis and Optimization This is the breakdown and improvement stage of the design solution. The analysis may reveal that the system is not an optimum solution. If the design fails the tests, the synthesis procedure must begin again, hence becoming an iterative process.

Finite Element Analysis

Finite Element Analysis (FEA) CAD models 3D models Design specifications Materials Loads Constraints Meshing Results Von Mises Stress Displacement Finite Element Analysis (FEA)

AUTODESK INVENTOR Dynamic simulation: Dynamic characteristics Optimization: Optimum solution Modal analysis: Natural frequencies Stress analysis: Von Mises stress Displacement

Robot base assembly optimization

Objective: optimization of members width Base plate Members Robot base

Problem formulation Minimize the mass of the structure while keeping stress and displacement within allowable values.

(2) FEA steps (3) (1) (4) (5)

Results

Convergence results Convergence rate Von Mises Stress Solution steps

Design configurations 1 Von Mises Stress Displacement

Design configurations 2 Von Mises Stress Displacement

Design configurations 3 Von Mises Stress Displacement

Solutions comparison: Von Mises Stress

Solutions comparison: Displacement

Selection of the best solution 1 2 3

Looking Ahead: FEA as a design aid... In this illustration, FEA is used to: Create a simulation. Specify materials, constraints, and forces. Specify parametric dimensions and generate configurations. View different configurations as 3D colour plots and XY plots.

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