Dynamics of a 6R industrial robot

摘要

Abstract In the context in which, the dynamic behavior and performance of industrial robots are very important for their general performance, we present, in this article, a short dynamic analysis of an industrial robot. First, on the base of a short review of some papers on this topic, a general presentation of some main concepts regarding the dynamics of the industrial robots, and of the actual importance of the virtual prototyping in studying the dynamic behavior and performance of such complex mechanical systems are highlighted. How the modern virtual prototyping tools allow better, more rapid, and less costly dynamic designing of the complex mechanical systems, comparing to the traditional designing and prototyping, and ADAMS MBS of MSC software enables the evaluation of the dynamic behavior of the virtual prototype of a robot during its designing stage, by starting from the kinematic model previously developed, we conducted in this research the process of dynamic modeling and simulation of a 6R articulated robot developed in ADAMS and a short dynamical analysis of it.