Dynamic simulation and configuration dependant modal identification of a portable flexible-link and flexible-joint robot

Abstract

ABSTRACT A 6 DOF robot dedicated to repair hydroelectric equipments is analyzed in this study. A generic approach is proposed to conduct dynamic simulation using MD Adams software and to identify modal information at the system level for any given configuration of the robot. Four out of six links of the robotic system are modeled by flexible bodies, pre-processed by finite element method. The meshed flexible bodies derived from the CAD geometry, containing modal information are then integrated in the dynamic model. The flexibility of 6 joints is also incorporated in the model using their joint stiffness obtained from actuators‟ internal components properties. The vibrational behaviour of the robotic system will be presented for a set of pre-programmed trajectories. Moreover, the vibration modes resulting from flexible links and flexible joints can be determined for any configuration of the robot in the workspace. This model is validated by comparing 3D coordinates of the robot end effector measured from static experiments and from the simulation. This simulation model will be a very useful tool for further investigation of chatter vibration in robotic grinding for surface rectification.