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Dynamic simulation and gravity balancing optimization of spot welding robot on Recurdyn (Recurdyn으로 점용접 로봇의 무게 균형 최적화와 동적 시뮬레이션)
Abstract :
Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2.
