COMPUTER AIDED ENGINEERING OF INDUSTRIAL ROBOTS
Journal Title: Proceedings in Manufacturing Systems - Year 2014, Vol 9, Issue 2
Abstract
The paper presents a comprehensive CAE perspective on industrial robots. It is a synthesis of a recent research and provides an overview on the most efficient types of modeling, simulation and optimization techniques that can be accessed for industrial robots. The paper also contains a state of art review in the domain. The CAE study was performed on a simplified model of an industrial robot. Results of the static, modal analysis and an extended kinematic study are presented and coupled with FEM optimization procedures. All the results are analyzed in respect with the influence of the static and dynamic behavior on the positioning accuracy of the robot. The model preparation stages are detailed, the simulation procedures are presented and the results are explained. Using a limited number of simulations, the CAE optimization allowed the exploration of an extended design space, taking into account a large number of variants and identifying the best design through-out a ranking and sorting scheme. Because the simulations and the optimization procedures supposed a reduced, but still important number of FEM solutions, a special attention has been paid to the model preparation stages. Further research is in progress on a more detailed model and information regarding the stiffness of the joints will be also considered.
Authors and Affiliations
C. Pupăză, G. Constantin, Ș. Negrilă
Keywords
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