Dynamic simulation and gravity balancing optimization of spot welding robot on RecurDyn
Yan-Shen Wang, Lian-Zheng Ge, Ping-Chun Xie, Yu-Xian Gai, International Conference on Mechatronics and Automation (ICMA), Beijing, August 2011, pp. 1905-1910.
Abstract
Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RecurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2.
How Multibody Dynamics Simulation Technology is Used
RecurDyn simulated the driving torques of a spot welding robot. The driving torques provided useful information for motor selection and optimizing gravity balancing structures. The design could be easily modified and resimulated to test the improved design.
