| This thesis focuses on structural dynamics analysis and reliability analysis of industrial robotic manipulator including assembly structure and single structure. The assembly structure contains every robot joint and assembly relationships. The single structure is to simplify the robotic manipulator as a whole, similar to the welded structure.This thesis builds three-dimensional solid modeling based on CAD software Solid Edge platform. Finite element modal analysis is carried out with the help of finite element analysis software named ANSYS. As a result, dynamic characteristics of the robot system in different positions and postures, such as mode shapes and its natural frequency are obtained. Meanwhile, comparative analysis has been carried out for dynamic characteristics between assembly structure and single structure. Also, reliability analysis is discussed by using Probabilistic Design System (PDS) provided by ANSYS. The reliability of big arm and sensitivity of the random variables are obtained. |
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