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Optimal Design and Sensitivity Analysis of Flexible Robotic Manipulators Fabricated from Advanced Composite Materials

The strategy for optimization design of flexible robotic manipulators fabricated from fibrous polymeric composite materials is presented. The formulation of the optimization design problem is accomplished by integrating design variables such as lamina thickness, fiber orientations, and fiber volume fractions, which characterize the mass, damping, and stiffness properties of the robotic manipulators. The formulation of the optimal problem is also accomplished by defining the objective function and the domains corresponding to the constraints. The optimal numerical simulation is based on the viscoelastodynamic finite element analysis. The generalized reduced gradient method is adopted for optimal algorithm. A sensitivity analysis of the dynamic response of robotic manipulators is discussed herein as post-optimal analysis to determine which design variables of the analysis model are the most sensitive parameters in determining the solutions. This strategy is illustrated by considering the design of a single-link flexible robotic arm fabricated from laminated composites. Tip deflection of the link of the robot arm was selected as the objective function, whereby the mass, damping, and stiffness characteristics of the structures are automatically introduced into the design procedures. It is shown in an example that the optimal solutions have significant improvement in performance relative to an arbitrary initial design. The sensitivity analysis also identified the most important design parameters to be considered when redesigning the robot manipulator.