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 01 Chapter

02 New Trends in Robots Engineering

03 with Professional Software
04 SolidWorks
05 Ciprian Dragne, Isabela Todirite, Marius Pandelea,
06 Corina Radu Frenţ, Petru-Alexandru Cotfas,
07 Veturia Chiroiu and Mihaiela Iliescu

08 Abstract

09 Engineering robotic systems stand for a challenging complex process, closely

10 related to product development phases. Society’s needs and requirements generate the
11 idea for new robot products, which are sketched as an initial concept. This is the
12 moment when the design phases start. Engineers continue their work with the evalu-
13 ation and optimization of the mechanical parts and their subassemblies, according to
14 many criteria: kinematics, dynamics, the strength of materials, NVH analysis, thermal
15 assessments, etc. Finally, there are established specifications for prototype execution,
16 environment sustainability, end-user specifications, and recycling requirements. All
17 these phases could be implemented into smart software, currently used by profes-
18 sionals in a unique software interface with many capabilities. SolidWorks is such
19 software enabling the creation of new mechanical designs automatically based on his
20 programming tools. This chapter is focused on relevant advanced capabilities of
21 SolidWorks software to assist engineers in achieving a new advanced level in
22 mechanical design, that of automatically generating new, or modifying existing con-
23 cepts according to the requirements. By using professional software in research stud-
24 ies, new engineering procedures can be developed in order to automate the concept
25 and design phases for many concurrent engineering methodologies, design optimiza-
26 tion methods, manufacturing, documentation, or end-user specification. Case studies
27 on different type of robot systems used in healthcare and assisted living are presented
AQ01 28 and stands as validation of the research results.

29 Keywords: robots, mechatronic system, optimization, concurrent engineering,

30 Solidworks, healthcare, assisted living

31 1. Introduction

32 In any concept of a robotic system, the start is with a vision of the product, and an
33 idea to design. As soon as the work for it begins, the project outline and preliminary
34 calculations to evaluate the concept are to be done. These could involve calculi for

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 Recent Advances in Robot Manipulators

01 evaluating the kinematic performance, the working space, evaluating the loads during
02 operation, evaluating the type of materials used, calculation of components’ pre-sizing
03 after a few significant simulation cases, calculations of the product life and cost
04 calculations. [1].
05 After these preliminary phases, next step is that of detailed design. Building of a
06 detailed 3D model, kinematic evaluation of the system, strength calculations for all
07 required cases, evaluation calculations according to other criteria, steps for optimizing
08 components that do not meet the needed requirements, durability calculations, and
09 service life assessment of components - all of these represent bases of a complex
10 engineering process [2].
11 Both preliminary and detailed calculation cases are multidisciplinary assessments.
12 These may include both strength analysis and assessments of dynamic behavior,
13 thermal effect, interaction with substances that require an assessment of fluid
14 flow, etc.).
15 This chapter, gives an overview of some practical methods of product design,
16 following all the aspects mentioned above, but using modern methods and a
17 professional CAD program. The use of modern methods means the use of personal
18 computers both for the evaluation by already set methods and for the development
19 of new methods, which bring to a new light all the features evaluated by older
20 methods [3].
21 Finally, it is to be enlightened that the use of advanced CAD programs could
22 enable, even “extravagant” facility such as the automatic realization of components,
23 the evaluation of many features under the perceptions of competitive engineering,
24 and even the automatic elaboration of projects, drawings, and technical specifications
25 of a product [4].
26 Concurrent engineering is a method of designing, evaluating, and developing a
27 product, in which the various stages of its evolution are solved simultaneously, rather
28 than iteratively. This method reduces the time of design, implementation in produc-
29 tion, the time required to launch onto the market, etc., which leads to improved
30 productivity and reduce costs [5–6].
31 Mechanical design of mechatronic system’s components, modeling and simulation
32 for further validation are presented next, highlighting the most efficient use of design,
33 analysis, and manufacturing tools offered to users by SOLIDWORKS.

34 2. Current state in design

35 In the early days of engineering, designers used empirical, sequential, uni-criteria

36 methods. All those methods were executed most of them on paper, and the project
37 files included explanations of all the required phases and calculation steps. The need
38 for faster evaluation methods has even necessitated the advent of calculating
39 machines. At first, computers were not programmable, the commands were executed
40 line by line, and so were the results. With the advent of programmable computing
41 tools, the earlier stages of product development have been completed more quickly
42 and new methods have been developed and diversified. Thus appeared the first
43 dedicated computing programs. In fact, the first programs were developed even for
44 engineering purpose of calculating some parameters that required long time of infor-
45 mation processing. One of these areas was the methodology for calculating a trajectory
46 required for a space shuttle, taking into account all the factors that influence this
47 trajectory [7–10].
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01 Over time, software for complex mathematical calculations have emerged. Some of
02 these programs are MATLAB and Mathematica. These allow to introduce command
03 sequences to evaluate mathematical expressions.
04 At the beginning, most function evaluations were performed in simplified repre-
05 sentation systems, with variations of curves only in plane. Thus appeared the first
06 CAD programs (for the graphical representation of the components) but they showed
07 the pieces only in 2D representation.
08 However, the components encountered in reality are three-dimensional. The
09 whole visible universe unfolds in a huge 3D scene. The emergence of components
10 representation as three-dimensional structures seems a natural step in the develop-
11 ment of design software.
12 According to the main purpose, the design phases of a product can be divided
13 into:

14 • evaluation phases of the assembly of parts and subassemblies;

15 • phases for analyzing the stress and strain state of the components or, the
16 strengths of the whole assembly (as a structure);

17 • phases of making the documentation;

18 • execution phases of the parts;

19 • execution of prototype;

20 • phases of experimental tests;

21 • phases of entry into production.

22 Each of the above phases has acquired well-known names over time, as mentioned
23 next.

24 • Modeling the geometry and the way of assembling the system components has
25 been called CAD (computer-aided design);

26 • Carrying out the structural evaluation phases and the characteristics of the
27 product has been called CAE (computer-aided engineering);

28 • Carrying out the execution phases of the product has been called CAM
29 (computer-aided manufacturing).

30 If in the beginning, CAD-CAE-CAM programs were clearly differentiated from

31 each other, in recent years there has been a trend of unification, so software devel-
32 opers have begun to unite to bring out more and more high-performance engineering
33 applications. CAD developers today seek to benefit from the performance of subas-
34 sembly calculation and evaluation programs, while CAE application developers seek
35 to benefit from the performance of CAD applications for viewing complex 3D assem-
36 blies. One of the three areas has lagged behind in recent years. This is the realm of
37 CAM applications. It was only after the advent of CNCs that a clear connection with
38 the above applications was achieved. The ultimate goal of any product is its physical
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 Recent Advances in Robot Manipulators

01 realization. It is obvious that the methods of physical realization can influence all the
02 previous methods of design, going back even to the initial conception and idea phase.
03 The most advanced 3D geometry modeling applications today are Catia,
04 Solidworks, Pro-Engineer, Inventor, and Ansys. There are also others, many are
05 developed ad hoc in various universities around the world.
06 As mentioned above, the methods for evaluating the performance of systems were
07 initially developed separately from the CAD part, although applications of materials
08 strength methods have gone hand in hand with engineering from the beginning. In
09 any kind of concept, the engineer had to have knowledge about the possible tasks that
10 could be supported by the designed structure. A very common method used in recent
11 years to evaluate the performance and mechanical properties of a structure is the
12 finite element method (FEA). The most advanced professional applications in these
13 methods are Abaqus, Ansys, Nastran, Pam-crash, Ls-Dyna, Solidworks, Comsol,
14 Autodesk Simulation, etc. [11–16].
15 A special field of research derived from evaluating the performance of a system is
16 studying its kinematics. Establishing and evaluating the performance of a system in all
17 positions of the workspace, including the determination of displacements, speeds, and
18 accelerations in the system, proved necessary in the study of its dynamics. In the case
19 of systems where the components have relative movements with respect to each other
20 (complete rotations, complex trajectories, necessary speeds and accelerations as tasks,
21 etc.), specific applications have also appeared for the evaluation of their kinematics.
22 Relevant ones, as best performing applications, are Adams and Solidworks.
23 The development of ideas and concepts, the assembly of designed components, the
24 evaluation of performance of the whole system, the optimization of the proposed
25 solutions, and the choice of the best manufacturing method could be achieved with
26 the help of modern mechanical design tools. Engineers, assisted by professional CAD-
27 CAE-CAM design applications, could be involved in the entire product development
28 process, from concept phase to prototyping, structural strength assessment, dynamic
29 behavior assessment, effective manufacturing by choosing execution methods of
30 physical and final assembly, as well as completion of all product documentation
31 including maintenance and recycling phases.

32 3. Concept development

33 Basic aspects of concept development for different robot/mechatronic systems are

34 presented next.

35 3.1 Concept of robot for laparoscopic surgery

36 This subchapter presents the concept of a surgical robot, designed in a kinematic

37 chain configuration with parallel components. The medical purpose is that of surgical
38 robot usable in brachytherapy procedures.
39 The development of the concept from the idea to the detailed CAD model for the
40 surgical robotic system went through the following stages:

41 • establishing the preliminary dimensions;

42 • establishing the first configurations;

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Figure 1.
Surgical robot - CAD model.

01 • optimization of the first configurations for kinematic performance parameters,

02 the workspace, the optimal trajectories, the kinetic parameters, etc.;

03 • selection of components for acquisition, actuators type;

04 • structural optimization based on the criteria of mechanical strength, selection of

05 the best materials, assessment of NVH behavior and thermal effects, etc.;

06 • establishing the optimal locations for the acceleration sensors intended to

07 monitor the structure;

08 • evaluation of the product life;

09 • mechatronic system control strategy - choosing the programming platform for

10 control functions;

11 • choosing the built strategies of the parts;

12 • evaluating the costs of the product.

13 The (up to date) model of the robot for laparoscopic surgery is presented in
14 Figure 1.

15 3.2 Concept of mechatronic system for visually impaired people

16 This subchapter presents the concept of a modular mechatronic system for visually
17 impaired people. The idea of the concept came after studying the assistive devices
18 present on the market, and the conclusion that they can be improved. This concept
19 aims both to address the issue of assistive devices for the visually impaired and to
20 present a virtual prototype of a modular mechatronic system for visually impaired

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 Recent Advances in Robot Manipulators

Figure 2.
Visualy impaired mechatronic system - CAD model. (a) whole mechatronic system (b) robotic arm sub-system.

01 people who have acquired other mild or medium deficiencies during life or even from
02 birth. The virtual prototype is not a prototype for a conventional device, but a custom
03 one consisting of modules that can be added as the person has adapted to the basic set
04 and other needs have been identified. The prototype of the mechatronic system
05 contains multiple modular systems (location, color identification, object bypass, hap-
06 tic feedback - audio, and others). People with visual impairments, in addition to
07 having to move in closed or open spaces, need to carry out daily activities which, in
08 most cases, require the recognition of objects in the environment.
09 The mechatronic system is designed so that people with mild neuro-motor dys-
10 functions could also be helped to move, to go up and down stairs and the robotic arm
11 to help the blind person when there is a window on the taxiway, as well as doors from
12 open cabinets to push them.
13 This system is intended to help the visually impaired in difficult times for them,
14 such as bypassing obstacles in the way. The user in the situation when will use it in
15 open spaces will face all kinds of situations that he has to manage.
16 From the mechatronic point of view, the system’s basic components are
17 (see Figure 2):

18 • the motion system – with wheels enabling climbing up/down stairs;

19 • the robotic arm system - will push window handles, open cabinet doors that stand
20 in the way of the subject, grab objects from shelves, etc.

21 3.3 Concept of anthropomorphic walking robot foot

22 Anthropomorphic walking robots are extremely complex systems whose main

23 problem is static and dynamic stability in the unknown environment. In most cases,
24 the fulfillment on the tasks depends on:

25 • mobility of mechanical structures;

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01 • identification and recognition of objects and obstacles;

02 • navigation in the workspace.

03 Figure 3 (a) shows an innovative 3D solution in terms of mechanical structure,

04 which is generated by the SolidWorks software. The idea was to design a walking
05 subsystem for anthropomorphic robots that provides increased mobility and energy
06 efficiency for effectors movements. It was chosen the version with sole consisting of
07 three segments to ensure the extra force of movement through the toes and articulated
08 heel for increased cushioning on contact with the support surface. The building
09 blocks, both mechanical and electronic, are mostly chosen from SolidWorks’ database.
10 Figure 3 (b) shows the 3D solution of the anthropomorphic robot sole with artic-
11 ulated heel generated by the SolidWorks software.
12 The dimensions and characteristics of the designed mechanical elements are com-
13 ponent parts of the control law that guide the heel when it lands on the support surface.
14 The physical parameter defines the rotation of the heel for shock cushioning is as
15 follows (Eq. (1)):

1=2 
Ip ¼ Ie  1 þ Fðti Þ  ₰= k2m þ k2g (1)

16 where Ip is the weighted inclination of the normal point of contact of the heel
17 relative to the vertical position, Ie is the estimated inclination by calculation of the
18 normal point of contact of the heel relative to the vertical position, F(ti) is the force on

Figure 3.
Mechatronic system for antrophomorphic robot foot. (a) General scheme (b) Sole detail.

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 Recent Advances in Robot Manipulators

Figure 4.
Mechatronic system for locomotors disabled. (a) transferring to car front seat (b) paralellogram system.

01 the support surface at the moment ti, ₰ is the damping displacement, km and kg being
02 the rigidities of the material, the heel of the foot and support surface, respectively.
03 From the point of view of the motors used, we chose the brushless DC version, in
04 order to have a fast, precise movement and a clearly superior control of the position of
05 the robot’s legs segments.

06 3.4 Concept of mechatronic system for locomotors disabled people

07 The mechatronic system’s concept presented in this subchapter is aimed to help

08 people with disabilities, people who present different forms of paralysis of the lower
09 limbs, or simply those who are in a period of medical recovery after undergoing
10 operations that restrict their mobility. By the system (see Figure 4), these people are
11 assisted in in transferring from the wheelchair to a vehicle or in performing various
12 household activities.
13 The transfer from a wheelchair to a vehicle is the operation with a high degree of
14 difficulty, because the person’s loading area is limited, the movements of the system
15 are limited and the possibility that the system or, worse, the person, will collide with
16 car parts (door, pillar, chassis) is high. The system can be adapted on several types of
17 vehicles depending on the car geometry (pillar shape and dimensions), as its concept
18 is that of adjustable clamping hinge (see Figure 5).

Figure 5.
Adjustable clamping hinge.

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01 4. Case studies for robots systems engineered assisted by professional

02 SolidWorks

03 Robots and mechatronic systems’ engineering using professional SolidWorks is

04 relevant in any stage of new product development. Some case studies for the designed
05 systems are shown next.

06 4.1 Analysis of robot for laparoscopic surgery

07 A surgical robot needs very well-prepared documentation that includes many

08 chapters about:

09 • the medical procedures considered;

10 • the main requirements of the medical robot: workspace, used tools;

11 • the mechanical characteristics required or to be taken into account;

12 • kinematic, dynamic, medical imaging performances, etc.;

13 • materials used, medical instruments;

14 • the maintenance specification of a product that works in the medical field;

15 • recycling conditions.

16 4.1.1 Workspace

17 The workspace is the entire space around the “home” position where the robot can
18 move. This is the robot workspace. The evaluation of the workspace is done by
19 knowing the direct kinematics equations for a robot with configuration based on
20 parallel structures (see Figure 6). Such workspace is presented in gray color in Fig-
21 ure 6-b with a section in red color. But near this workspace should be added the

Figure 6.
Workspace of hexapod robot. (a) hexapod robot (b) robot and required workspace.

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 Recent Advances in Robot Manipulators

01 required space on design. This space is presented in green color, which is a special
02 workspace in the sense that its definition is made in cylindrical coordinates. This type
03 of workspace has a number of advantages in terms of solution symmetry and the
04 disadvantage that the implementation of its equations is complex.
05 The workspaces above were evaluated using the MATLAB program based on a
06 parametrization in the position of the platform using only generalized displacement
07 at its center. These mathematical equations can also be implemented in a CAD program
08 in order to benefit from all its graphical performance. A such example is in Figure 7,
09 which shows the workspace of a hexapod robot evaluated using procedures developed
10 with the Solidworks API. The working method uses the procedures presented in [17] to
11 find the boundary of the workspace at the operating limit of the actuators.
12 API (Application Programming Interface) is a background support program from
13 Solidworks CAD that allows programming commands to be written in a specific
14 language to automate model execution based on procedures implemented internally in
15 software.
16 The methods presented for a robot’s workspace do not take into account the
17 possible collision between the elements of the system when positioning in workspace.
18 Because the actual geometry of the components can vary greatly from the idealized
19 shape, then it is necessary to implement collision detection procedures.

20 4.1.2 Collision detection

21 A robot is generally a machine designed to perform tasks automatically, with speed

22 and accuracy. Even when a robot is operating properly, it may collide with people or
23 objects that enter its workspace and may even cause personal injury or damage to
24 those objects. A particular case is the self-collision when the robot strikes its own
25 components from which it is built [18, 19].
26 Injuries or damage to others (humans or mechanical components) due to the robot’s
27 activities are classified as contact damage. The main aspect of the impact between two
28 or more components is collision detection. How collision assessment depends mainly
29 on the geometry of the parts, the more complicated are the components, then more

Figure 7.
Robot workspace evaluated with Solidworks API.

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Figure 8.
A short presentation of decomposition techniques used in collision detection [20].

Figure 9.
Collision detection strategy at forbiden zones. (a) virtual reprezentation of liver (b) veno-arterial tree in tubes
geometric primitives.

01 time it takes to assess possible collisions. That’s why it’s a good idea to start with a
02 simplified geometry. Figure 8 summarizes the geometry decomposition techniques
03 used in collision detection. In paper [20], the authors presented some innovative
04 techniques for the detection of collisions between components with complex geometry.
05 If the assessment of the collision is done with a veno-arterial network then the
06 detection becomes even more complicated. For the speed of the calculations, it is
AQ02 07 recommended to simplify an artery tree until to the level of geometric primitives
08 (Figure 9).
09 The Solidworks software is useful in collision detection with its methods to evalu-
10 ate the distance between components.

11 4.1.3 Kinematic performances

12 Evaluating the configuration of a robot involves a study of choosing the best

13 features (dimensions, types of links, type of drives, etc.) according to different
14 criteria, such as:

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 Recent Advances in Robot Manipulators

01 • compatibility with the surgery room and with medical procedures;

02 • compatibility between the tools used and the workspace;

03 • compatibility with the kinematic performances of the robot.

04 The optimization of the different quality parameters of the robot must be done
05 according to several kinematic performance criteria (see Table 1): singularities,
06 determinants of the inverse of the Jacobian matrix, dexterity, global conditioning
07 index, local conditioning index, manipulability, etc. [21, 22].
08 Optimization of configuration (see Figure 10) involves the knowledge and use of
09 advanced methods of mathematical calculation: multi-criteria methods, genetic algo-
10 rithms (GA), and matrix processing. Figure 10-b shows the dispersion of intermedi-
11 ate results when using a GA to optimize the configuration of a hexapod robot until the
12 optimal position is found.
13 The kinematic evaluation of the mechanisms can also be done using a professional
14 CAD program. Solidworks provides tools for such assessments. Figure 11 shows the
15 final results of the positions of a surgical robot using the Solidworks software for both
16 the forward and inverse kinematics. Figure 11-a shows the results of forwarding
17 kinematics procedures by increasing the length only at one actuator, and Figure 11-b
18 shows the results of inverse kinematics procedures to put the tools at a specific


The determinant of the Jacobian matrix det ½J 1
  
Dexterity ½DEX  ¼ det J 1 ∙kJ k

Local conditional index LCI ¼ σσ max ðJ Þ

min ðJ Þ

pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Manipulabiliy Manip ¼ detðJ ∗ trðJ ÞÞ
!
Global conditional index Ð Ð 
η¼ k∙dW = WS dW
WS

Table 1.
Criteria for kinematic performances.

Figure 10.
Assessment and optimization of kinematics. (a) assessment of configuration in real time (b) optimization using GA.

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Figure 11.
Assessment of kinematics using Solidworks. (a) forward kinematics (b) inverse kinematics.

01 location in a specific direction. However, the methodology requires knowledge of the

02 Solidworks API script.

03 4.1.4 Durability assessment

04 Effective service life is determined by several factors, including:

05 • load cycles;

06 • environmental factors: temperature, humidity, corrosion, etc.;

07 • selected materials;

08 • electromagnetic fields under which the system works.

09 Research results on evaluation of the effect certain expected loads on the service
10 life of a product do have. A load cycle was considered. The stress level is VonMises
11 stress extracted from 100 load cases at the same probe when the loads vary in
12 different directions and amplitude. An example of VonMises stress level at probe for
13 load case (no. 55) with 1000 N at tool is presented in Figure 12. The probe is located at
14 platform because this part is the main for structural design optimization.
15 Material for platform is considered in this phase the polycarbonate plastic material.
16 This material could be changed during further optimization steps.
17 The assessment of the endurance by effect of the stress state on the material took
18 into account the Wohler curve of the polycarbonate plastic by applying the rainflow
19 method. The results are shown in Figures 13 and 14. For the above load cycle the
20 damage is 1.0434e-6 for a single stress sequence. This means that the life of the
21 verified component is 958,405 cycles.
22 Rainflow algorithm is the most popular counting method used in fatigue and
23 failure analysis for lifetime estimation of mechanical parts. The rainflow counting
24 technique was introduced by Matsuishi and Endo in 1968 to extract closed loading
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 Recent Advances in Robot Manipulators

Figure 12.
Von Mises stress level at probe for load case (no. 55).

Figure 13.
Reference load cycle.

01 reversals or cycles for a correct estimation of fatigue. The “rainflow” was named in
02 comparison to the flow of rain falling on a pagoda roof [23, 24]. For the studied
03 example, the detailed rainflow diagram is presented in Figure 15.
04 Endurance evaluation can be done also using Solidworks software, but not with
05 such detailed diagrams for post-processing and reports but with something else which
06 is also important – durability in 3D fields.

07 4.1.5 Thermo-mechanical evaluation

08 Thermal flow can influence the performance of a robot. These aspects are even
09 more important in the case of a surgical robot. The results of thermo-mechanical
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Figure 14.
Fatigue curve for plastic -polycarbonate.

Figure 15.
Rainflow diagram.

01 simulation for the surgical applications hexapod robot are further presented. Thermal
02 load is considered overheating of an actuator from 18 to 30 degrees Celsius because of
03 a failure at its motor. Because of to this thermal load, the total deviation at the end of
04 the tool is 0.25 mm for presented model (see Figure 16).
05 In a surgical room, there could exist many thermal sources from the heating of
06 electrical systems, heating flow, radiation, convection, advection, etc. An evaluation
07 of thermal effects is mandatory for a surgical robot.

08 4.1.6 Damage detection

09 Structural Health Monitoring (SHM) is applied today to mechanical structures that

10 require significant costs, for structures difficult to inspect or where human safety is a
11 priority. The main task in this subject is damage detection. But damage detection
12 involves today also methods to estimate damage location, damage size, or other
13 additional information about the damaged area.
14 In this sub-chapter is presented an improved DLAC method for damage localiza-
15 tion technique applied to a surgery robot structure. Basically, method use frequency
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Figure 16.
Thermo-mechanical analysis. (a) thermal field (b) thermal deformation.

01 shift for damage detection (Eq. (2)). The DLAC criterion was improved by transform
02 equation into a probability index for a better assessment (Eq. (3)).
2
ΔωTE ΔωA ðiÞ
DLACðiÞ ¼   (2)
ΔωTE ΔωE ΔωTA ðiÞΔωA ðiÞ

03 where ΔωX is the frequency shift for analytical or experimental (A, E) model.

probabilityðDLACÞ ¼ RESCALEðDLAC, 0, 100Þ (3)

04 Successful damage localization technique depends on eigenmodes number. In

05 Figure 17 there are presented the set damages locations and final diagram for DLAC
06 probability index.
07 The probability index of DLAC criterion shows the maximum value exactly where
08 the damage was imposed in each model. This is possible when exist only one damaged
09 area. In case of simultaneous existence of several damages, the DLAC method is no
10 longer effective, being necessary to corroborate with other criteria for a correct eval-
11 uation.

Figure 17.
Damage localization using 10 eigenmodes. (a) 8 damaged locations (b) DLAC probability index assessment.

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Figure 18.
Damage localization using 8 eigenmodes. (a) serial robot - 6 damages (b) DLAC probability index.

01 Detailed examples for damage detection probability index can be found in [25].
02 The complete task of the simulations for surgical robot was developed based on
03 MATLAB software [26], SOLIDWORKS Educational [27] and user defined program-
04 ming routines, VB, API, etc., [28].

05 4.2 Damage detection for robotic arm

06 A similar damage localization technique was tested on the robotic arm of the
07 visually impaired mechatronic system (see Figure 2. (a)). The simulation uses 8
08 eigenmodes and 6 damages.
09 One can conclude that simulation results prove the estimation for the
10 damage location, as the higher probability of damages resulted for location no. 5
11 (see Figure 18).

12 4.3 Optimization of geometric configuration for a hand prosthesis finger

13 The model of finger hand prosthesis has been built, as part of a research on
14 biomechanical prosthesis (see Figure 19) and one important step prior to prototyping
15 was that of optimization its geometry, specially its mechanical components (levers)
16 dimensions.

Figure 19.
Hand finger’s motion. (a) finger model (b) real finger.

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 Recent Advances in Robot Manipulators

Figure 20.
Hand finger components. (a) tip finger trajectory (b) finger prototype.

01 Basic finger’s motion is that of rotation of phalanges so that to grab an object. Based
02 on the 3D model, the fingertip trajectory was simulated (so that to be on a circle arc)
03 and thus the position of the pressure sensor was determined (see Figure 20) at a
04 radius of 32 mm. In the 3D model, the sensor is positioned at 28 mm. So, adjustments
05 of levers’ lengths have to be done.

06 5. Conclusion

07 Modern CAD design tools bring many benefits to their users. Solidworks is a
08 design program with many features in mechanical design and not only for mechanical
09 domain. Originally developed for the visualization and virtual construction of com-
10 plex ensembles, the software has been developed in recent years into a complex
11 assessment of overall tolerances, parts parameterization, kinematics, structural
12 strength, the performance of the product, cost evaluation, etc. These benefits can be
13 multiplied by using Solidworks API programming codes.
14 All stages from product design study to prototyping and/or manufacturingcan be
15 solved with a single working tool, Solidworks software.
16 Technical conclusions:

17 1. Robot surgery design involves many aspects from medical, physics, engineering,
18 prototyping and manufacture fields [29];

19 2. Damage localization is a reliable technique for monitoring of mechanical

20 structures during evaluation, testing and service;

21 3. Programming tools increase performances in engineering design [30–33];

22 SolidWorks is the most advanced tool for engineers today because of its range of
23 applications that can be involved in real product design and manufacture Solidworks
24 is even more advanced. Solidworks API can build assemblies in a fully automatic
25 fashion. An entire assembly can be obtained based on the parameterization of the
26 components and commands in the API programming code. And the adventure to new
27 levels of engineering design just starts. Multi-physics, multi-disciplinary and multi-
28 platform in computer and engineers‘ability will grow.
18
 New Trends in Robots Engineering with Professional Software SolidWorks
DOI: http://dx.doi.org/10.5772/intechopen.105979

01 The result of the design with SolidWorks software will be analyzed cinematically
02 and dynamically in order to verify and validate the concept and solution for the robot
03 system engineered.

04 Acknowledgements

05 We thank CADWORKS International SRL for the support and help given in this
06 research, https://www.cadworks.ro/.
07 We also thank the Romanian Academy for the support of this research.
08 Part of this work was supported by Grant of the Romanian ministry of Research
09 and Innovation, CCCDI–UEFISCDI, PROIECT 653 PN-III-P2-2.1-PED-2019-0085,
10 Contract no. 447PED/2020.

11 Conflict of interest

12 The authors declare no conflict of interest.

13 Author details

14 Ciprian Dragne1, Isabela Todirite2, Marius Pandelea2, Corina Radu Frenţ2,

2 1 2
15 Petru-Alexandru Cotfas , Veturia Chiroiu and Mihaiela Iliescu *

16 1 Department of Mechanics, Institute of Solid Mechanics - Romanian Academy,

17 Bucharest, Romania

18 2 Department of Robotics and Mechatronics, Institute of Solid Mechanics - Romanian

19 Academy, Bucharest, Romania

20 *Address all correspondence to: [email protected]

21 © 2022 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of
22 the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0),
23 which permits unrestricted use, distribution, and reproduction in any medium, provided
24 the original work is properly cited.

19
 Recent Advances in Robot Manipulators

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