Document Type



Mechanical Engineering

First Advisor's Name

Diana Rincon

First Advisor's Committee Title

Committee Member

Second Advisor's Name

Ibrahim Tansel

Second Advisor's Committee Title

Committee Member

Third Advisor's Name

Sabri Tosunoglu

Third Advisor's Committee Title

Committee Member


optimal robots, edward mebarak, robot automation, sabri tosunoglu, optimal design, desig automation of robots

Date of Defense



The objective in this work is to build a rapid and automated numerical design method that makes optimal design of robots possible. In this work, two classes of optimal robot design problems were specifically addressed: (1) When the objective is to optimize a pre-designed robot, and (2) when the goal is to design an optimal robot from scratch. In the first case, to reach the optimum design some of the critical dimensions or specific measures to optimize (design parameters) are varied within an established range. Then the stress is calculated as a function of the design parameter(s), the design parameter(s) that optimizes a pre-determined performance index provides the optimum design. In the second case, this work focuses on the development of an automated procedure for the optimal design of robotic systems. For this purpose, Pro/Engineer© and MatLab© software packages are integrated to draw the robot parts, optimize them, and then re-draw the optimal system parts.





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