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Dynamic Behavior Analysis of Six Axis Industrial Robot Gripper: A Review

Nikhil J Rathod

Abstract


The six axis robots are widely used in automotive industry for their good repeatability in operation like painting, welding, handling etc. In industries for the material or object handling robot, the gripper is widely used as an end effecter. Since Dynamic behavior analysis of six axis industrial Robot gripper needs to be investigated. Generally, dynamic equations of such systems are truncated to three main finite -dimensional models: lumped parameter, assumed modes, and finite elements and these three models are compared in this report. The main objectives of this research is to find maximum robot operating speed range at all direction for minimum deflection in materials or object which is being handled. Secondary objective is to calculate effective load of gripper on the robot and stresses developed in the gripper due to speed and inertia while various movements will be occurs.


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References


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