Research On Dynamic Characteristics For CINCINNATI Robot

With the development of technology and science , the industrial robot applications were quickly made use of in industry, instead of man doing some dangerous and plural work. But the joints of industrial robot are many, moving space wild, the designers can not know how to decide these conflict one another.In this thesis, by using of theory of finite element and dynamic characteristics the natural dynamic characteristics of CINCINNATI robot are studied, also the natural frequency and vibration of CINCINNATI robot and each of its parts are analyzed. So we can offer the thesis for improving structure.In this thesis, by using equivalent principle, we can reasonable predigest the finite model of CINCINNATI robot for the software "ANSYS" operation and solution. Because moving joints are all bearings, we can make use of spring element of software "ANSYS" to take place of all bearings. Because of mode analysis of CINCINNATI robot, the factor of bearings has more influence than bolt; we can ignore the factor of bolt.By analysis of machine, we can make conclusion that the weakest structure of the whole machine is its moving joint—bearing , and bearing is most important factor for dynamic characteristics of CINCINNATI robot.In this thesis, through creating the models of main parts by the use of software "Pre/E", a robot assembly is set up. And make simulation of six joints robot.In this thesis, by using spring element simulating bearing, we can application this conclusion for virtual prototyping technology in mechanism design.