Structural Optimization of Slender Robot Arm Based on Sensitivity Analysis

Table 1

Variable sensitivity results.

Design variable	Initial value (mm)	Mass sensitivity (𝑆𝑚)	Bending displacement sensitivity (𝑆𝑑)	Equivalent stress sensitivity (𝑆𝜎)	Modal strain energy sensitivity (𝑆𝑒)	Inherent frequency sensitivity (𝑆𝑓)
𝑥1	5	6.32𝑒−002	6.99𝑒−002	0.114	0.169	0.157
𝑥2	5	8.24𝑒−002	2.51𝑒−002	0.17𝑒−002	0.110	5.17𝑒−002
𝑥3	5	3.01𝑒−002	0.226	0.127	0.153	8.38𝑒−002
𝑥4	6	5.73𝑒−002	2.33𝑒−002	7.29𝑒−003	3.58𝑒−002	6.26𝑒−002
𝑥5	6	0.127	0.21𝑒−002	0.13𝑒−002	4.42𝑒−002	5.51𝑒−002
𝑥6	7	0.158	1.82𝑒−002	0.15𝑒−002	1.33𝑒−002	3.15𝑒−002
𝑥7	180	8.78𝑒−003	3.02𝑒−002	5.34𝑒−002	4.81𝑒−002	4.17𝑒−002
𝑥8	90	0.106	3.63𝑒−002	0.155	8.20𝑒−002	7.64𝑒−002
𝑥9	150	0.109	0.231	0.382	0.269	0.234
𝑥10	75	5.16𝑒−004	0.15𝑒−002	0.16𝑒−002	0.18𝑒−002	0.15𝑒−002