Six-axis industrial robots are now one of the most flexible tools today. The
purpose of this thesis is to design, simulate and analyze a six degree of freedom
articulated industrial robot arm for multi application using mechanical CAD software
Solidworks and Matlab7.0. The capacity of this model is 1.5kN and the maximum
reach of the model is 3343.93mm (full extension). A few products in the market will
be studied into detail and become the guidance for the design. The process will first
setup using Solidworks. After setup the model, a few simulations are performed. The
kinematics simulations of mechanisms are performed on the design through
COSMOSMotion, a SolidWorks module for multi-body kinematics analysis. Several
motion tests are conducted, the angle projection of the joint and the angle acceleration
and velocity will be analyzed. The simulation will continue with COSMOSWorks for
further finite element analysis (FEA). During the FEA analysis, material is defined to
this model and the load is applied. The stress and strength tests are conducted with
consideration of minimum number factor of safety (FOS), six. The model shows
positive for the safety test. At last, the forward dynamic analysis is performed on the
model using the Matlab Simmechanics. A Simmechanics model is generated directly
through Solidworks and Simmechanics translator. Several input signals are applied to
the joint’s actuator, the dynamic characteristic of this model can be studied. The
characteristic studied here are the position, velocity, angular velocity, acceleration and
angular acceleration of these manipulators. The information obtained from this project
is for the purpose of designing the mechanical model of the robot arm, the control
system of the model will not be concerned. As conclusion, this project is a well
success and the objective has been achieved.
DESIGN, SIMULATION AND ANALYSIS OF AN INDUSTRIAL ROBOT USING SOLIDWORKS_SIAH CHEON KEAT _E3_2007_875002318_NI