Structural analysis of 600Kgf heavy duty handling robot

Abstract

To design the heavy duty industrial robot manipulator, it must be tested and evaluated for the overall structure. The test and evaluation procedure may be followed after the parts configuration determined from the kinematics & dynamics analysis of the robot structure. During this research, we completed a feasibility study via simulation on each of the specifically designed assembly parts which determine the detailed figures and specifications of the heavy duty handling robot. First, we completed the simulation of the rigid body dynamics analysis for heavy load of 600Kgf (max). & tare weight of robot body. As a result, we obtained the maximum reaction force for each joint that could be used for static rigidity analysis. Next, through the mode analysis, we estimated the natural frequency for the overall assembled structure and compared it with the experimental result to identify the accuracy and the reliability of the FEM models. Finally, we analyzed the elastic-rigid body dynamics to estimate the robustness of the parts during the working motion of the robot.