Verification of CAD model and calculations
After CAD model was created, it had to be verified from engineering point of view. First task was to determine suitable drives and their torques to achieve desired velocities and accelerations. Most of calculations were carried out using center of mass concept and associated forces and moments. Second task was to numerically verify the model from strength of materials standpoint. This step included FEM (Finite Element Method) analysis of the arm subjected to load corresponding to its weight and tip payload of 1.5kg (max. allowed load). Column of the robot was not included in the analysis due to negligible influence and deformation when under permissible load.