An optimal design program is applied to design the KIRO-3 robot which is a SCARA-type robot. It is assumed that robot has two arms which are modeled as a assemblage of beam type elements by finite element method.
Two sets of optimization are studied. First, the object function is taken as a combination of weight, moment of inertia about the rotation axis and design variables are height, width of each arm. Secondlly, the object function is taken as a cycle time and design variables are height, width of each arm, velocity, and acceleration time.
ADS(Automated Design Synthesis) is used for evaluating the optimal values.