Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Estimation on Heavy Handling Robot using Flexible-Rigid Multibody Analysis

변형체-강체 다물체 해석을 이용한 초중량물 핸들링로봇의 평가

  • Kim, Jin-Kwang (Mechatronics Technology Innovation Center, Changwon Univ.) ;
  • Ko, Hae-Ju (Mechatronics Technology Innovation Center, Changwon Univ.) ;
  • Park, Ki-Beom (Department of Mechanical Engineering, Changwon Univ.) ;
  • Kim, Tae-Gyu (Department of Nanomechatronics Engineering, Pusan Univ.) ;
  • Jung, Yoon-Gyo (Department of Mechanical Engineering, Changwon Univ.)
  • Received : 2009.10.19
  • Accepted : 2010.02.02
  • Published : 2010.04.01
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Abstract

A flexible-rigid multibody analysis was pen armed to examine the dynamic response of a heavy handling robot system under a worst motion scenario. A rigid body dynamics analysis was solved and compared with flexible-rigid multibody analysis. The modal analysis and test were also carried out to establish the accuracy and the validation of the finite element model used in this paper. For the flexible-rigid multibody simulation, stresses in several major bodies were interested, so that those parts are flexible and other parts are modeled as rigid body in order to reduce computer resources.

Keywords

References

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