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This paper presents the design and the optimization of a four-axis robotic arm using a parallelogram linkage mechanism to maintain end-effector orientation. The manipulator is designed for a 600 mm working stroke and a 1.5 kg payload, incorporates four stepper-driven revolute joints and is made from aluminum alloy 6061 to ensure high rigidity and low mass. The kinematic model was developed and solved through the Newton–Raphson method. Finite element analysis in Altair HyperMesh supported structural evaluation and optimization through thickness reduction, rib reinforcement, and joint refinement. The resulting design offers an optimal stiffness-to-mass ratio, improved manufacturability, and modularity, making it suitable for light industrial applications and education.

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Design and Structural Optimization of a Four-Axis Robotic Manipulator

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  • 发表日期：

    2026年

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  • Eftene Cezar-Alexandru,
  • Călin Itu

摘要

This paper presents the design and the optimization of a four-axis robotic arm using a parallelogram linkage mechanism to maintain end-effector orientation. The manipulator is designed for a 600 mm working stroke and a 1.5 kg payload, incorporates four stepper-driven revolute joints and is made from aluminum alloy 6061 to ensure high rigidity and low mass. The kinematic model was developed and solved through the Newton–Raphson method. Finite element analysis in Altair HyperMesh supported structural evaluation and optimization through thickness reduction, rib reinforcement, and joint refinement. The resulting design offers an optimal stiffness-to-mass ratio, improved manufacturability, and modularity, making it suitable for light industrial applications and education.