Paper Title:
The Rigid-Flexible Coupled Modeling and Dynamic Simulation of HP-20 Robot
  Abstract

The rigid-flex coupled multi-body dynamic model of Motoman HP20 was built in this paper. The parts geometry shapes were modeled in 3D modeling software and imported into the multi-body platform. Then the joints were added to the parts. The arms were analyzed in FE software and modal neutral files were obtained. Then rigid parts were replaced by the modal neutral files. Driven curves of each arm joint were obtained by D-H method. The modal analysis of system was also made to analyze the robot dynamic characters. The results give some suggestions for robot motor selection and structural dynamic optimization.

  Info
Periodical
Chapter
Chapter 2: Simulation and Engineering Optimization
Edited by
Di Zheng, Yiqiang Wang, Yi-Min Deng, Aibing Yu and Weihua Li
Pages
508-511
DOI
10.4028/www.scientific.net/AMM.101-102.508
Citation
G. Zhang, H. B. Huang, T. Zhang, "The Rigid-Flexible Coupled Modeling and Dynamic Simulation of HP-20 Robot", Applied Mechanics and Materials, Vols. 101-102, pp. 508-511, 2012
Online since
September 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Zai Liang Chen, Sheng Tao Wang, Dong Min Wu, Ji Ne Wang
Abstract:The components of sheet metal FMS are abstracted corresponding eM-Plant object, the sheet metal FMS’s automatic guided vehicle system and...
754
Authors: Zhen Yin, Hua Li, Bang Fu Wang, Ke Feng Song
Innovative Design Methodology
Abstract:Based on FEM, a new type of ultrasonic elliptic vibrator design method was proposed, the ultrasonic elliptic vibration was achieved by the...
341
Authors: Hui Hui Zhao, Wen Fang Zhang
Chapter 3: Civil Engineering
Abstract:The application of ABAQUS finite element software non-linear finite element analysis of brick masonry walls with structural column. Build...
791
Authors: Ying Wu, Xu Zhou
Chapter 5: Dynamics of Mechanical System
Abstract:For being convenient for researching the dynamic characteristic and the improvement and use of the planar six bar mechanism, for improving...
921
Authors: Hao Zhang, Jian Song, Ming Cong
Chapter 1: Advanced Mechanical Engineering and Novel Devices
Abstract:Machining simulation can quick supply valuable data to help improving machine processing quality and efficiency. And it is playing an...
8