Flexibility analysis and determination of elastic deformations for robot manipulator

Author(s): 
P. Shilpa, G. Bala Raju, PMR Sai Charan (ACE Engineering College)

CHALLENGE - Current industrial robots are made very heavy to achieve high stiffness which increases the accuracy of their motion. However, this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of lightweight manipulators as an alternative to today's massive inefficient ones. 

SOLUTION - This paper presents the kineto-elasto-dynamic analysis of robot manipulator PUMA560. The end-effector holding an object and passing through a considered path trajectory, the co-ordinate positions of the end-effector is considered at five positions. Inverse kinematic analysis has been performed for finding the corresponding link positions. Dynamic analysis is performed to find the velocities, accelerations and joint torques for moving the end-effector in the considered path trajectory with the help of MATLAB-2008a software. Matlab is coupled with optimization software modeFRONTIER in this methodology. Using joint torques, static, loading due to link’s masses, masses at joints, and payload, the PUMA 560 arms elastic deformations are found by using ANSYS-12.0 software package. 

 

 

 

 

 

 

 

 

BENEFITS - Results suggest that by compensating the joints torque variations in the robotic programming, the accuracy of the trajectory path of the end-effector can be optimized.

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