Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame

Area of Science:

• Robotics
• Mechanical Engineering
• Finite Element Analysis

Background:

• Delta robots are increasingly integrated into industrial automation.
• Accurate dynamic modeling is crucial for predicting robotic system performance.
• Steel frames are common structural supports for robotic systems.

Purpose of the Study:

• To develop a finite element model for analyzing the dynamic properties of a steel frame with an attached delta robot.
• To investigate the influence of the robot on the frame's dynamic characteristics.
• To validate the proposed modeling approach through experimental verification.

Main Methods:

• Finite element modeling (FEM) was employed to represent the steel frame and delta robot.
• The Guyan reduction method was applied for efficient modeling of the frame foundation.
• Dynamic properties, including natural frequencies and mode shapes, were analyzed for the frame with and without the robot.

Main Results:

• The developed finite element model accurately predicted the dynamic properties of the frame and the frame-robot system.
• Experimental validation confirmed the model's accuracy, with an average relative error of 4.3% for the frame and 5.6% for the frame with the robot.
• The study demonstrated the effectiveness of the Guyan reduction method in simplifying the analysis of complex robotic structures.

Conclusions:

• The proposed finite element modeling approach, incorporating the Guyan reduction method, provides a valid and efficient tool for determining robotic system dynamics.
• The model allows for accurate and rapid analysis of dynamic properties, essential for optimizing robotic system design and performance.
• This research contributes to improved understanding and simulation of integrated robotic and structural systems.