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The study set out to determine the optimum architecture of a robotic arm link based on weight and payload and perform vibrational and stress analyses on the resultant shape. Findings showed the effectiveness of topology optimization in preliminary stages of structural design. The subsequent linear static analyses confirmed the degree of safety of the robotic arm links. It was also shown that that preload in the actuator wire incorporated in the links can be manipulated to tune the natural frequency of the structure. These findings contribute to the ongoing design of the entire robotic first aid system by providing data, which will be used for selection of components and inspire confidence to proceed with manufacture.

Structural Design, Optimization and Analysis of Robotic Arm Via Finite Elements.