Sustainable Development of Redundant Articulated Robot Components Using Simscape Multibody

This chapter proposes the effects of aluminum alloy A380 on the joint dynamic sustainability of the redundant articulated robot (RAR) by changing the degrees of freedom (DOF). RAR components were designed using the Fusion 360 CAD model. The A380 alloy material is employed as a design material and then incorporated the model into MATLAB/Simscape Multibody. The change in degrees of freedom does not easily achieve a better dynamic property. To avoid such difficulties, Simulink simulation of the RAR system blocks scheme is used to identify the dynamic property, or torque, applied at robot joints for 7 degrees of freedom. This change in DOF helps to perform better compared to the normal DOF. Based on the dynamic property observations, the Simscape Multibody simulation results demonstrated the relevance of using A380 alloy while designing RAR components. Similarly, the mechanical and fatigue analysis using the Ansys research software was performed to determine the sustainability of the proposed material for redundant articulated robot components in real-time function. The mechanical strength analysis will show the maximum amount of stress induced and total amount of deformation. Fatigue analysis will propose the stress leads to failure, equivalent alternative stress, total life cycle, and damage safety factor for the RAR.