Three-Dimensional Motion Simulation And Finite Element Analysis Of FANUC M₆iB Robot

Three-dimensional motion simulation of robot is important in researching and exploitation of robot technology. It's useful in validating the working theory, the working space, and the motional function of robot, and it's also very important in validating the correctness of the results of the forward and inverse kinematics analysis. The researching object of this paper is a FANUC M₆iB robot which has six axes and six degree of freedom. The following contents aimed at the robot included:The local coordinate system of the FANUC M₆iB robot links was established based on the D-H transformation matrix of prepositive coordinate, the parameters of adjacent coordinate were gained, and the position and attitude equation of the end effector of the robot was inferred.The three-dimensional robot model was established which used AutoCAD, and the model was split into six parts through each component and then transformed into 3DS file. The interface program which developed 3DS file under the OpenGL was written through analysis the format of the 3DS file. A three-dimensional motion simulation system of the robot based on OpenGL was developed after analysis the structure of the FANUC robot. This method simulated the actual motion of the robot, and it laid a good foundation for validation the rationality and safety of the structure and mechanism design of the robot, and it also provided a reference for the three-dimensional motion simulation of other mechanisms.A parametric design system aimed at FANUC robot M series was developed. Three-dimensional robot model was set up automatically based on the inputting parameters of the robot structure. This method reduced the amount of data which user input and improved the design efficiency. Besides, it's laid a good foundation for the series design and motion simulation of FANUC robot M series.Based on the three-dimensional motion simulation and parametric design, the structure ofthe robot arm was analyzed by means of using ANSYS finite element software, and the stress and elastic deformation cloud chart of the structure of the robot arm under different acceleration were obtain. In addition to, the influence of the deformation of the structure on the working precision of the robot under different acceleration was analyzed.