Kinematic analysis of robotic complex within the SOLIDWORKS Motion system

摘要

The paper presents the kinematic analysis regarding the motion of a robotic complex with relative handling modules via the SolidWorks Motion system based on the designed 3D model. The analysis considered such motion elements as motion restriction, material properties, weight, speeds and contacts of components. The results of motion modeling of the module for installation of the tool and the module for installation of the processed workpiece on the basis of tripods are given. In the course of modeling the real motion rods were replaced with interface units of the SolidWorks Motion application. The analysis resulted in the definition of the maximum movement of links. Besides, the adequacy of developed mobile parts and lack of conflicting links is defined. The motion trajectories of the output links of robotic complex are obtained. The analysis allows drawing conclusions on the motion trajectory fidelity of modules to perform processing of tools of various complexity. The obtained results may be used in the design of robotic complex with relative handling modules.