Project Phase-I Presentation

MODELING AND CONTROL OF STIFF ROBOTS FOR FLEXIBLE MANUFATURING

BASKAR. R
512211408002 II YEAR, III SEM M.E. Engineering Design

Guided by: Dr. M. KANNAN HOD PG Studies (mechanical engineering)

Department of Mechanical Engineering,
SKP Engg.College

Aim
Modeling the kuka irb_260 robot model. Determine objective function of the robot

Department of Mechanical Engineering,

SKP Engg.College

Actual Robot model

First in ADAMS import a parasolid format . After give the density value ADAMS automatically calculate part mass properties and moment of inertia value. After apply joint in all parts and simulate dynamically. But the major drawback is cant modify the part dimensions.

Department of Mechanical Engineering,

SKP Engg.College

Adams robot model

Department of Mechanical Engineering,

SKP Engg.College

Stiffness analysis
Usually, stiffness analysis of a robotic system is aiming to determine the stiffness performance through the computation of a 6 6 Cartesian stiffness matrix K. Thus, a proper stiffness modeling and analysis is of key significance to identify optimal trade-off solutions both at design and control stage. the stiffness matrix K can be computed as - - force transmission capability of the mechanism - the spring coefficients of the deformable components - deformations and compliant displacements

Department of Mechanical Engineering,

SKP Engg.College

 Thus, one can compute the Cartesian stiffness matrix as Global stiffness indices can be defined also in a mathematical form by using minimum, maximum, average, or statistic evaluations of a local stiffness index. For example, one can compute a global index in the form

Department of Mechanical Engineering,

SKP Engg.College

Numerical computation of stiffness performance

Department of Mechanical Engineering,

SKP Engg.College

Thank You

Department of Mechanical Engineering,

SKP Engg.College