A finite element approach to the design and dynamic analysis of platform type robot manipulators

The design of a closed-loop platform-type robot manipulator using the finite element method is presented. The present approach aims at the optimization of the manipulator geometry and prediction ot the actuator parameters. Beam elements and triangular plate elements are used for the finite element model. Manipulators having six spherical-prismatic-spherical (6 SPS) pairs and of tetrahedron construction have been compared for their dynamic performance. © 1992.