Rigid-Flexible Coupling Simulation and Vibration Analysis of Flexible Robot

Abstract

With a 7DOF serial robot as an example, the paper focused on the kinematics simulation analysis of the rigid-flexible coupling robot, and the research on the impact of the arm flexible on the motion accuracy of the robot end. Firstly, 3D model of the robot is established by using SolidWorks™. The lower-stiffness components are imported into HyperWorks ™ to generate flexible bodies. And the rigid-flexible coupling model is established via ADAMS™. A specific working condition is set for simulation. The kinematics simulations of rigid robot model and rigid-flexible coupling robot model are carried out. The study provides a theoretical basis for structural optimization and vibration control of the robot.