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CEP_MEEN201101097
CEP_MEEN201101097
CEP
Design and FEA Analysis of Three-Link Actuator for Pick and Place
Mechanism
Submitted by
Ehtisham Ul Hassan
MEEN201101097
BS-MEEN-8A
Submitted to
Engr. Syed Saad Farooq
Table of Figures
Figure 1: Freehand Sketch ...................................................................................................................... 6
Figure 2: Base Link................................................................................................................................. 7
Figure 3: Intermediate Link .................................................................................................................... 7
Figure 4: End Effector Link .................................................................................................................... 8
Figure 5: Three Link Actuator Assembly ............................................................................................... 8
Figure 6: Nodes and Element .................................................................................................................. 9
Figure 7: Revolute-Ground to Solid Joint ............................................................................................. 12
Figure 8: Body-Body Joint.................................................................................................................... 13
Figure 9: Body-Body Joint.................................................................................................................... 13
Figure 10: Loading Condition ............................................................................................................... 14
Figure 11: Directional Deformation ...................................................................................................... 14
Figure 12: Equivalent Stress ................................................................................................................. 15
Figure 13: Equivalent Strain ................................................................................................................. 15
Figure 14: Loading Condition ............................................................................................................... 16
Figure 15: Directional Deformation ...................................................................................................... 16
Figure 16: Equivalent Stress ................................................................................................................. 17
Figure 17: Equivalent Strain ................................................................................................................. 17
Figure 18: Tetrahedral Mesh method .................................................................................................... 18
Figure 19: Mesh .................................................................................................................................... 19
Abstract
This report presents the comprehensive design and Finite Element Analysis (FEA) of a three-
link actuator intended for a pick-and-place mechanism in a CNC shop. The primary objective
is to handle raw materials between workstations. The analysis encompasses stress-strain
evaluation, deformation analysis, and validation using ANSYS software. Recommendations
for necessary corrections to ensure equilibrium and safe design are also provided.
Nomenclature
E - Young's Modulus
I - Moment of Inertia
F - Force
δ - Deformation
σ - Stress
ϵ - Strain
DOF - Degrees of Freedom
ANSYS - Analysis System
Assumptions
➢ Force (F): 100 N applied at the end of the End Effector Link.
➢ Base Link: Fixed to the ground and rotates about its center, providing stability.
➢ Intermediate Link: Connects to the base link via a revolute joint allowing rotational
movement.
➢ End Effector Link: Attached to the intermediate link through another revolute joint
and ends with a gripper for holding materials.
Base Link
SolidWorks Modeling
Base Link
➢ Sketch a rectangle (50𝑚𝑚 × 10𝑚𝑚) to represent the base.
➢ Extrude the sketch to the 200𝑚𝑚 thickness.
➢ Add mounting pin of 10 𝑚𝑚 for joint.
Intermediate Link
➢ Sketch a rectangular bar (50𝑚𝑚 × 10𝑚𝑚).
➢ Extrude to the 300 𝑚𝑚.
➢ Add holes at one end and pin on other of 10 𝑚𝑚 for revolute joints.
Final Assembly
Final Assembly is as follows:
N4 N3
Element 3
Element 2
N2
Element 1
N1
Element 1
𝐿 = 200 𝑚𝑚 = 0.2 𝑚
𝒖𝟏 𝒗𝟏 𝒖𝟐 𝒗𝟐
12 6𝐿 −12 6𝐿 𝒖𝟏
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 𝒗𝟏
𝑘1 = 3 [ ] 𝒖𝟐
𝐿 −12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2 𝒗𝟐
𝒖𝟏 𝒗𝟏 𝒖𝟐 𝒗𝟐
12 6(0.2) −12 6(0.2) 𝒖𝟏
9 −9
(70 × 10 )(4.16667 × 10 ) 6(0.2) 4(0.2) 2
−6(0.2) 2(0.2)2 𝒗𝟏
𝑘1 = 𝒖𝟐
(0.2) 3 −12 −6(0.2) 12 −6(0.2)
2 𝒗𝟐
[6(0.2) 2(0.2) −6(0.2) 4(0.2)2 ]
𝒖𝟏 𝒗𝟏 𝒖𝟐 𝒗𝟐
12 1.2 −12 1.2 𝒖𝟏
1.2 0.16 −1.2 0.08 𝒗𝟏
𝑘1 = 36458.4 [ ] 𝒖𝟐
−12 −1.2 12 −1.2
1.2 0.08 −1.2 0.16 𝒗𝟐
𝒖𝟏 𝒗𝟏 𝒖𝟐 𝒗𝟐
437500.8 43750.08 −437500.8 43750.08 𝒖𝟏
43750.08 5833.4 −43750.08 2916.7 𝒗𝟏
𝑘1 = [ ] 𝒖𝟐
−437500.8 −43750.08 437500.8 −43750.08
43750.08 2916.7 −43750.08 5833.4 𝒗𝟐
Similarly for Element 2 and Element 3 are as follows 10802.48
Element 2
𝒖𝟐 𝒗𝟐 𝒖𝟑 𝒗𝟑
129629.76 19444.46 −129629.76 19444.46 𝒖𝟐
19444.46 3888.89 −19444.46 1944.446 𝒗𝟐
𝑘2 = [ ] 𝒖𝟑
−129629.76 −19444.46 129629.76 −19444.46
19444.46 1944.446 −19444.46 3888.89 𝒗𝟑
Element 3
𝒖𝟑 𝒗𝟑 𝒖𝟒 𝒗𝟒
1037037.8 77777.8 −1037037.8 77777.8 𝒖𝟑
77777.8 7777.78 −77777.8 3888.9 𝒗𝟑
𝑘3 = [ ] 𝒖𝟒
−1037037.8 −77777.8 1037037.8 −77777.8
77777.8 3888.9 −77777.8 7777.78 𝒗𝟒
Force-Displacement Relation
𝒌𝒖 = 𝑭
12 6𝐿 −12 6𝐿 0 0 0 0 𝑢1 𝐹𝑥1
6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 0 0 𝑣1 𝐹𝑦1
−12 −6𝐿 24 0 −12 6𝐿 0 0 𝑢2 𝐹𝑥2
𝐸𝐼 6𝐿 2𝐿2 0 8𝐿2 −6𝐿 2𝐿2 0 0 𝑣2 𝐹𝑦2
𝑢 =
𝐿3 0 0 −12 −6𝐿 24 0 −12 6𝐿 3 𝐹𝑥3
0 0 6𝐿 2𝐿2 0 8𝐿2 −6𝐿 2𝐿2 𝑣3 𝐹𝑦3
0 0 0 0 −12 −6𝐿 12 −6𝐿 𝑢4 𝐹𝑥4
[ 0 0 0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 ] [ 𝑣4 ] [𝐹𝑦4 ]
𝐹 100 𝑁
𝜎𝐴𝑥𝑖𝑎𝑙 = = = 0.2𝑀𝑃𝑎
𝐴 50𝑚𝑚 × 10𝑚𝑚
Strain (𝜖)
𝑀𝑐 15000 𝑁. 𝑚𝑚2 × 5 𝑚𝑚
𝜎𝐵𝑒𝑛𝑑𝑖𝑛𝑔 = = = 17.999 ≈ 18𝑀𝑃𝑎
𝐼 4166.67 𝑚𝑚4
Here,
Strain (𝜖)
𝜎𝐵𝑒𝑛𝑑𝑖𝑛𝑔 18 𝑀𝑃𝑎
𝜖= = = 2.57 × 10−4 𝑚𝑚⁄𝑚𝑚
𝐸 70000 𝑀𝑃𝑎
Add Body-Body revolute Joint between “Base link” and “Intermediate link”.
Add Body-Body Revolute Joint between “Intermediate link” and “End Effector”.
b) Equivalent Stress
c) Equivalent Strain
e) Equivalent Stress
f) Equivalent Strain
Mesh Size
Setting mesh size to minimum edge length divided by 2 for refined meshing.
Calculation
A load of 100 N is applied vertically downwards at the end effector, and reaction forces at the
base and joints are to be calculated.
∑ 𝐹𝑦 = 0
𝑅𝑒𝑠𝑢𝑙𝑡𝑎𝑛𝑡𝑏𝑎𝑠𝑒 − 100 = 0
𝑅𝑒𝑠𝑢𝑙𝑡𝑎𝑛𝑡𝑏𝑎𝑠𝑒 = 100
∑ 𝑀𝑏𝑎𝑠𝑒 = 0
These calculations help to determine if adjustments are needed to balance the forces and
moments.
Conclusion
In conclusion, this report has detailed the comprehensive design and finite element analysis
(FEA) of a three-link actuator for a pick-and-place mechanism in a CNC shop. By accurately
identifying links and joints, utilizing beam elements, and selecting aluminum as the material,
we ensured a robust design. Hand calculations and ANSYS simulations validated the stress and
strain distributions.
References
[1] K. G. Gandhewar and S. B. Muley, "A Review on Design and Analysis of Pick and Place
Robotic Arm," International Journal of Engineering Research and Technology, vol. 3, no.
4, pp. 147-152, Apr. 2014.
[2] X. Yu and T. Ma, "Design and Analysis of a Three-Link Robotic Arm," Journal of Robotics
and Automation, vol. 8, no. 2, pp. 213-219, Jun. 2015.
[3] . L. Meriam and L. G. Kraige, Engineering Mechanics: Dynamics, 7th ed. New York, NY,
USA: Wiley, 2012.
[4] F. P. Beer, E. R. Johnston Jr., J. T. DeWolf, and D. F. Mazurek, Mechanics of Materials,
7th ed. New York, NY, USA: McGraw-Hill, 2015.
[5] K.-J. Bathe, Finite Element Procedures, 2nd ed. Englewood Cliffs, NJ, USA: Prentice Hall,
1996.
[6] J. N. Reddy, An Introduction to the Finite Element Method, 3rd ed. New York, NY, USA:
McGraw-Hill, 2006.