A ANUSHKA / ENGINEERINGMECHANISM STUDY  ·  01 / 03

INTERACTIVE DESIGN STUDY

HIGH-STRESS
OPTIMIZATION

A 3-DOF robotic wrist, under load. Tune the geometry and see how a simplified bending model responds.

ROBOTIC WRIST×STRUCTURAL ESTIMATE
ENGINEERING
IN MOTION03DEGREES OF FREEDOM
01 / REFERENCE CAD

OpenRST component set

SOURCE STL GEOMETRY
OPENRST STL MESHES · EXPLODED · NOT ASSEMBLED
OPENRST WRIST CAD REFERENCE ↗
LOADING OPENRST STL COMPONENTS…
VON MISES SCREENING ESTIMATE—MPa · beam/torsion approximation
YIELD UTILIZATION—estimate ÷ selected yield strength
SAFETY FACTOR—yield strength ÷ estimate
03 / WHAT THE NUMBER MEANS

A useful signal.
Not a certification.

The wrist is approximated as a cantilever with an equivalent hollow circular section. End force causes bending and the applied wrist torque causes torsional shear. A hollow-core comparison illustrates the stress-versus-mass trade-off.

END MOMENTM = F × (Larm + Ltool)
SECTION MODULUSZ = π d3 / 32
VON MISES ESTIMATEσᵥ = √(σᵦ² + 3τ²)
HOLLOW SECTION MASS RATIO1 − (dᵢ / dₒ)²

This is not FEA, topology optimization, fatigue, or impact analysis. Real wrist geometry, joints, bearings, fasteners, contact, load direction, stress concentrations, material condition, and constraints are omitted. Do not interpret the numbers as tested hardware performance.