Dynamic Evaluation of a Whole Structure of an Industry Robot

A systemic procedure is proposed to predict and evaluate the dynamic behaviors of a whole robot structure rapidly at its design stage. The dynamic model is composed of elements of beam and lumped-mass, which is linked by joints. The receptance equation of the element is established based on Boundary Element Method. And the receptance equation of the whole robot structure is established by synthesis of the receptance equation of elements. Natural frequencies and mode shapes of the whole robot structure are rapidly received by the equation. The software to analyze the dynamic behaviors of the whole robot structure were developed based upon the proposed method. The dynamic behaviors of a conveying robot with 5-degrees were predicted by the software at its design stage, and the dynamic behaviours of three schemes of the robot were evaluated so as to provide the theoretical base for the structure selection of the robot.