Dynamic Analysis of the Five Degree-of-Freedom Robot Mounted on Flexible Base

• Main Authors: Syuan Yang, 楊翾
• Other Authors: Wei-Hsin Gau
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/34764548801060896561

碩士 === 華梵大學 === 機電工程學系博碩專班 === 99 === In this study, dynamic responses of the five degree-of-freedom flexible robot arm are analyzed by using the method of computer simulation. The robot is consist of the base, twist upper-arm, rotational upper-arm, twist lower-arm, rotational lower-arm, and gripper all with 48 parts. The prototype of the robot is constructed and assembled followed by the real model by using the soft ware SolidWorks. The prototype is then transferred into the soft ware ADAMS and degrees of freedom, constrained conditions, material properties, and three sets of angular velocities of the robot are defined. The gravity of the griping-mass is also defined in the gripper point. The angular velocity and angular acceleration of base parts in the twist lower-arm and rotational upper-arm are calculated and compared in different sets of angular velocities. In the flexible analysis, the base part in the twist lower-arm is defined as a flexible body. Boundary conditions and materials properties of the base part are defined by using the finite element soft ware ANSYS. The mesh and mode shape of the flexible part can be obtained. The rigid base in the twist lower-arm is replaced by the flexible base to calculate and simulate von Mises stresses and maximum shear stresses of the flexible base as well as the trajectory of the gripper point. They are shown that the flexibility has less effect on the angular velocity and angular acceleration of base parts in the twist lower-arm and rotational upper-arm, while the flexibility has significant effect on the trajectory of the gripper point of the flexible robot arm. Keywords: Flexible robot arm; ADAMS; gripper point; von Mises stresses; maximum shear stresses; trajectory