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1 Journal of KONES

1 2008

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Dynamical analysis of the deformable power transmission mechanism using mixed FEM and MBS method

Zglińska M., Orzechowski G., Frączek J.

Journal of KONES

2008

Vol. 15, No. 1

235-245

In the article an algorithm of dynamic analysis of mechanisms of industrial robots is presented using mixed FEM and MBS method. In simulation analysis of this kind of constructions finite elements method (FEM) is commonly used. An alternative method is mixed multibody system (MBS) and FEM formulation. Despite the fact that this formulation undergoes a few limitations, it is often best choice between accuracy and computation efficiency. Mechanisms analyzed in the paper are manipulators of parallel structures. Friction forces in joints are included in the model. A sequence of simulations of the robot behaviour was performed with different input functions (driving torques). Finally the discussion of influence of different integration methods on the accuracy and efficiency of numerical calculations is presented. The paper presents among other schema of modelling with FEM and MBS formulation, CAD model of the parallel Cartesian robot, Manipulator model in MSC.ADAMS application, graph of the driving force and tip orientation differences model of the body with visible parallelograms, FEM models, MBS model of POLYCRANK robot power transmission mechanism, modal shapes corresponded to the lowest modal frequency, driving torque vs. time, angular velocity of the upper shield, reaction forces injoint between cap and disc.