A B S T R A C T
\nThe study aims to optimize the design of a six-degree-of-freedom robotic arm using advanced composite materials
\nspecifically carbon\/polyester fiber-reinforced composites to achieve a lightweight yet stiff structure with
\nsuperior dynamic performance. The main contribution of this article is the development of a dynamic optimization
\nframework that integrates a gradient-based optimization technique with the finite element method (FEM)
\nto model and analyze the flexible robotic arm incorporating flexible joints. This approach carefully derives the
\nequations of motion to fully capture all dynamic coupling effects within the system including the influence of
\njoint torsional stiffness on both flexible links and joints. The optimization process focuses on minimizing the
\noverall displacement while reducing the robot arm\u2019s mass, inertia and enhancing its dynamic capabilities. Using
\nthe block Lanczos method implemented in MATLAB R2021a to calculate the natural frequencies and compares
\nthe original aluminum design with the optimized composite arm. The results demonstrate a significant
\nimprovement in stiffness along with a notable reduction in mass and inertia. Consequently, the optimized robot
\narm achieves exceptional specific stiffness, strength and enabling an increase in the load capacity at the end
\neffector by up to 30 %.<\/p>\n
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