A COMPREHENSIVE STATIC AND MODAL ANALYSIS OF"5R" KINEMATIC CHAINS USING VIRTUAL TECHNIQUES

Gabriel Munteanu, Adrian Ghiorghe
2009 unpublished
An important characteristic for the field of industrial robotics is the positioning precision of end effectors. Due to the progress of the computer technologies and control systems, the accuracy has significantly improved in the last years. Still, there is a continuous need for machines to provide higher accuracy mechanisms and kinematic chains or to adjust the systems already built in order to adequate it to reach to a better precision of the tasks. The current paper shows the results of a
more » ... he results of a comprehensive analysis applied for RRR-RR robotic system already build including two versions of static analysis and modal analysis, using the modern virtual instruments. The main stages pursued was: design of the mechanisms and kinematic chains for each rotation joint, in accordance with the real robot, modelling of the connections and the mesh for each element and surface, simulation and model analysis using FEM specialized instruments. A final indication about the characteristics to improve is presented.
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