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ICMMSE_2019
Static structural Analysis of 4 Dof Telescopic Robotic Manipulator
A Krishna kumara,G Sureshb
aFirst affiliation, Address, City and Postcode, Country
bSecond affiliation, Address, City and Postcode, Country

Abstract
Four D.O.F industrial robot are specially used in pick and place production works. The present work carries out static analysis of
robotic manipulator with 2P2R hemispherical configuration of telescopic robotic arm which is one in another arm combination
specially used where congested space available in the work environment. The work is focused to save the maximum space and
telescopic robotic arm is loaded at the end effector increasing gradually up to its weight ratio.In this analysis Deformation, stress
distribution in the structure are determined in order to check whether induced stress values are less than the yield stress of the
material for the safe design of the structure by using Ansys 19. Load vs deformation and Load vs stress graphs are plotted from
the structural analysis.

Keywords: 2P2R; Hemispherical; D.O.F

1. Introduction

In designing the structure of Four DOF manipulator it is essential to determine the stress distribution and
deformation. Telescopic type robotic arms are used in congested work environments. The bomb disposal technicians
are used telescopic type robotic manipulator to maximize their standoff distance. To assist physically disabled people
to lift objects and in shearing operation, were the sheet is picked manually and placed on the belt for shearing which
involves risk factor. The challenge is designing of pick and place operation to carry the sheet from the stack and
place it in the shearing machine for the feeding. Where congested space is available between stack and shearing
machine there telescopic robotic manipulator may use by changing its gripper. By attaching this manipulators to the
climber plucking operations also can be performed.
Jianjun Yuan et al. [1] explores the merits of telescopic mechanism and designed a multi-stage type of cable
driven telescopic arm with single degree of freedom (DOF) for mobile surveillance robots. The researcher used
pulleys and cables as the transmission system and a DC motor together with harmonic drive as the actuation system.
pulleys and cables are integrated in order to reduce cost and performed numerical analysis by simulation and
prototyping.
Supriya Sahu et al. [2] vibration analysis of frequencies of robot. The different modes of frequencies for the robot
having crack and without having crack based are analyzed on the finite element method (FEM). In order to improve
the efficiency of an industrial robot, a finite element model of the robot is established by utilizing the software of
ANSYS Workbench. Where the model is designed in CATIA V5 with crack and without crack and the frequencies at
three different modes are obtained. To optimize the design weak parts of the robot arm is found and suggestions put
forward for improving and building the foundation.
Supriya Sahu et al. [3] found the Deformation, Stresses, Shear Elastic Strain and Strain Energy at different points
of an industrial robot to find out it’s factor of safety by using Finite Element Method (FEM). For pick and place
production works Six axis industrial robots are used in industries. So it needs to be properly designed. Finite element
analysis is performed and model is created in Ansys. To find out weak parts different gripper loads are applied at
different conditions. So the further design improvements can be done.
Khoo Zern Yi et al. [4] presents about design, analyses development and fabrication of robotic arm for sorting
multi-material. The major problem that urges the initiation of the project was the fact that manufacturing industry is
rising at relatively faster rate in now a days. Many companies produces high load robotic arm. The robotic arm used
five servomotors for overall operation. Four servo motors are used for joints and one for gripping mechanism. The
gripper was designed and fabricated using Perspex due to the light weight and high strength of the material. The
operation was governed by Basic Stamp programming sequence and the device was differentiate other objects and
materials based on the reflective theory.
Milind R. Shinde1 et al. [5] designed the robotic arm which is to be used for unload and load the work piece on
lathe machine. The CAD model of robotic arm was made using CATIA V5 software and its simulation performed on
Workspace Simulation Software. The total productivity of machine and complete machine utilization is maximized.
Ashwin Vadalkar et al. [6] designs the shoulder that uses two large-scale servo motors, working together to
provide the torque needed to lift the rest of the arm and it grasps the any object. Attached to the shoulder piece is an
elbow that can move through 180 degrees, also powered by a largescale servo. The wrist is made up of one standard
servo and can rotate the gripper clockwise and counter clockwise. The revolute geometry allows the robot arm to
reach any point within a half-cylinder. The radius of the half-cylinder is the length of the arm when its shoulder,
elbow, and wrist are straightened out.
ANSYS FEM method utilised for static analysis of robotic manipulator with 2P2R hemispherical configuration
which is loaded at the end effector increasing gradually up to its weight ratio.

2. Methodology

i. To model and simulate a telescopic robotic manipulator with four d.o.f using creo 2.0 for pick and place
production works.
ii. To carry out static structural analysis in order to find its deformation and equivalent stress distribution in
the structure by using FEM.

a b

Fig. 1. (a) Manipulator in Fully Closed position; (b) Manipulator in Fully Opened position.
3. Modelling of Parts and its assembly

Modelling is created by using creo 2.0. This is good software for the best part design. The following are the different
parts and these parts are assembled using the same package. The dimensions are taken based on the application. The
total reach of the manipulator is 750 mm and its payload capacity is 2kg. When it is in compressed position
maximum space is saved.

c d e

f g h

Fig. 2. (c) Base; (d) cylinder; (e) Rotary part; (f) Sliding part 1; (g) Sliding part 2; (h) Gripper

The assembled view represented in the right side where to the base part cylinder part is attached which is rotary joint
it turns around 90 ° to 250° degrees and to the cylindrical part rotary part is attached which is having sliders to it.
The rotary part turns around 45° and 115° providing up and down movement for picking the
object. Further to the rotary part two sliders are attached. At the end of second slider mechanical type gripper is
attached which is used for pick and place operations.
 Fig. 3. Assembled view of the model

4. The Finite Element Model Analysis by ANSYS

For analysing the any model in the ansys the following steps are needed to carryout.

i. Importing the model in the Ansys software from Creo by changing the the format to IGES.
ii. Selecting the suitable material for the model.
iii. Give all necessary contacts to the defined model
iv. Mesh the model to solve the problem
v. Apply Boundary conditions ( Fix the base and apply load at Gripper)
vi. Solve the model for the required boundary conditions
vii. Obtain the results

Fig. 4. Meshed Telescopic arm

4.1. Structure

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