Kinematic Design and Optimization of Geometrical Dimensions of a Four Degrees of Freedom Hybrid Robot Manipulator

The most common types of mechanical arms are robots that are used as palletizing robots to transport light and heavy loads. In robots that are used to move heavy loads, increasing the carrying capacity of the robot while maintaining dexterously, accuracy, repeatability and lightness has always been one of the issues studied by researchers. With this approach, in the present paper, the kinematic design and dimensional optimization of the geometry of a four-degree robotic robotic arm have been performed. The primary geometry is designed using parallel parallelograms to allow horizontal load carrying. After the initial design of the geometry dimensions of the robot, using the finite element method, the geometric optimization of the structure has been done in such a way that changes in the geometric dimensions of the arms as design parameters result in receiving the best results for the objective function. Deformation of the arms and proper distribution of load force among all arms. Using the optimization results of this paper and achieving a set of parametric relationships for the geometry of the robot structure, a shorter path can be taken to design these robots and With optimal geometry, parameters such as not increasing the dimensions of the arm sections to overcome stress and deformation, not increasing the overall weight of the structure, followed by increasing accuracy, repeatability, more load carrying capacity, robot dexterously and not enlarging the overall dimensions of the robot Improve.