A Motoman Hp6 Robot System Dynamics Analysis

HP-6 Robot is a 6-DOF rotary joint robot developed by Japan Motoman Yaskawa Electric Robot Corporation, which has been widely used because of the characteristics of body modular structure, carrying capacity, movement speed, high positioning accuracy, the control system to improve reliability, a cost-effective etc..So it becomes the first choice for all relevant research institutions to carry out the development of robot technology experiment platform. A HP-6 robot has been introduced to our college for experimental teaching of undergraduate robot courses and conducting research by teachers and postgraduates in February 2007. However, for the reasons of trade secrets, Motoman Robot Corporation didn't provide the core of technical parameters and theoretical analysis basic information, and then with only 25% of rated speed operation, the Robot work did not play its due ability and its off-line programming functional access was limited to a single user, and only to expand access to 6 users almost cost to buy a new HP-6 robot. Thus, this is seriously constraining the robot to play its due role in teaching and research.In this paper, the main task is to complete the HP-6 robotic system dynamics analysis and to provide the necessary basic theoretical analysis for the development of robot teaching experiment for public off-line programming system and the installation of arc welding systems for the transformation of the work. The following work has been done in this paper.According to reliable data, the completion of the HP-6 structure of the general assembly drawing , all parts of the three-dimensional map design virtual assembly, kinematics simulation and arm structure of finite element analysis have been completed.The HP-6 robot coordinate system and the movement coordinate system have been established. Kinematic equations and dynamic equations have been exported.The HP-6 three-dimensional motion of the robot model based on ADAMS platform has been established, and we have finished the simulation studies. The dynamic and static state of stress test has been done on the basis of finite element analysis in the robot arm structure, and the conducted results verified that the finite element Analysis of the correctness and the big arm structure are reasonable.