Analysis and Design of Heavy Duty Handling Robot

Abstract

In automation of manufacturing process, especially in mechanical industry, robot system now became a most general solution. Currently, one of the expanded applications of robot system is a heavy duty handling of huge and heavy parts. Actually some models with the payload over 600 Kg or more are already developed and commercialized. In this paper, we introduce the design process of heavy duty industrial robot especially on the analysis technology that we adopted to build the native model of KIMM. In design process of articulated robot, with the payload over 300 Kg or more, it requires static and dynamic analysis for manipulator that enables the selection of core components such as motor and decelerator. Although there are several commercialized software programs for analysis of kinematics and dynamics, we used the self developed S/W 'RODAN' that is specialized for inverse dynamics analysis. In his paper, we also introduce this S/W and it's applications for the analysis of heavy duty industrial robot design.