OPTIMUM DESIGN OF ROBOT WITH STRUCTURE FLEXIBILITY

A method of optimizing robot with structure flexibility presented in this paper.The main point of thismethod is that the multi-objective functions are built by adding together several quantities such as weightand elastic deformationenergy using different weights for each.The process of optimal design is done under constraint conditions.The results showns the optimum parameters of relative cross-sectional dimen-sion of the links with controlled structure flexibility and minimum weight for industrial robot.