Kinematic and Structural Optimization of Multi-DOF Robotic Manipulator Systems for High-Precision Manufacturing

Abstract

The increasing demand for high-precision manufacturing in aerospace, automotive, electronics, and advanced industrial production systems has accelerated the development of robotic manipulators with enhanced accuracy, flexibility, and operational efficiency. Conventional multi-degree-of-freedom (multi-DOF) robotic manipulator systems often experience limitations related to structural vibration, positioning errors, workspace constraints, and reduced dynamic stability under complex manufacturing operations. This research presents a kinematic and structural optimization approach for multi-DOF robotic manipulator systems to improve precision, motion control, and structural performance in high-precision manufacturing environments. The proposed study integrates kinematic modeling, dynamic analysis, and structural optimization techniques to evaluate manipulator motion characteristics, load distribution behavior, and trajectory accuracy under varying operational conditions. Finite element analysis and optimization algorithms are employed to investigate the influence of link geometry, joint configuration, material selection, and actuator placement on structural stiffness, vibration suppression, and positioning precision. The framework further incorporates intelligent motion planning and trajectory optimization methods to enhance workspace efficiency and minimize end-effector errors during manufacturing operations. Performance evaluation is conducted using parameters such as positioning accuracy, structural deformation, vibration response, payload capacity, trajectory tracking efficiency, and energy consumption. Simulation and experimental results demonstrate that the proposed optimization framework significantly improves manipulator precision, reduces structural vibration, and enhances operational stability compared with conventional robotic configurations.