Paper Title
Evaluation of Joint Driving Torque and Finite Element Analysis in Articulate Robot through the Simulation of Multi-Body Dynamics

Interest in high-speed articulated robots is increasing for product productivity expansion. High-speed articulated robots operate with rapid acceleration/deceleration moves, requiring dynamic characteristic analysis in the robot designing process. For this dynamic behavior analysis, simulation software is utilized, which supports product design verification and parts optimization. In analyzing the dynamic characteristics using the software, loading conditions can be obtained from experimental data or parts’ material characteristics. In a special case where data or experimental data on load conditions are hardly obtainable, multibody dynamics software is utilized. However, it is not easy to define an effective load and boundary conditions for systems with kinetically complicated connections. In order to solve such a problem, this present study investigated how to apply to structural analysis software the dynamic load found using dynamics and structural analysis software. In addition, the dynamic characteristics of high-speed articulated robots and robot link were assumed as a rigid body in implementing the dynamics analysis and structural analysis. Keywords - High Speed Robot, Multi Body Dynamic Analysis, SCARA Robot, Robot Driving Torque, Simulation Analysis, Actuator Module