This paper presents a unique optimal torso design selection technique for the dual seven-degree-of-freedom robot arm. This optimal design enhances the robot end-effector’s workspace with less operational stress. The selection procedure incorporates the von Mises stress and robot workspace analysis in different robot-torso mounting configurations. The torso design selection strategy includes the von Mises stress calculation numerically and by using SolidWorks static analysis for robot arm considered as bolted-fixed end cantilever beam. Followed by robot end-effector workspace analysis using inverse kinematics, which determines the maximum area covered by manipulated robot end-effector in 2-dimensional (2D) and 3-dimensional (3D) space. Subsequently, introducing a selection function for torso design. This selection function is calculated based on weighting coefficients (priority given to stress and workspace), von Mises stress, and workspace area. The selection technique concludes that the torso design with upper-arm mounting configuration is optimal for current robot application, i.e., assembly.

本文为双七自由度机械臂提出了一种独特的最佳躯干设计选择技术。这种优化设计增强了机器人末端执行器的工作空间，同时降低了操作压力。选择程序结合了不同机器人躯干安装配置中的 von Mises 应力和机器人工作空间分析。躯干设计选择策略包括 von Mises 应力数值计算和使用 SolidWorks 静态分析对被视为螺栓固定端悬臂梁的机器人手臂。其次是使用逆向运动学的机器人末端执行器工作空间分析，它确定被操纵的机器人末端执行器在 2 维 (2D) 和 3 维 (3D) 空间中覆盖的最大区域。随后，介绍了躯干设计的选择功能。该选择函数是根据加权系数（优先考虑应力和工作空间）、von Mises 应力和工作空间面积计算得出的。选择技术得出结论，带有上臂安装配置的躯干设计最适合当前的机器人应用，即组装。