Applied Mechanics and Materials Vol 596 (2014) pp 640-645 Submitted: 2014-05-08

© (2014) Trans Tech Publications, Switzerland Accepted: 2014-05-13

doi:10.4028/www.scientific.net/AMM.596.640 Online: 2014-07-18

Motion Simulation and Finite Element Analysis of the Manipulator Based

on SolidWorks

LU Peng1，CHENG Dao-lai1，SHI Gang2，ZHOU Zhi-hao1，LI Nan-kun 3

，
College of Urban Construction and Safety Engineering Shanghai institute of Technology Shanghai ，
， ； ，
201418 China 2.Institute of Mechanical Engineering Shanghai institute of Technology Shanghai ，
， ； ，
201418 China 3.Shanghai Bamac Electric Technology Co., Ltd. Shanghai 201700 China ，
Keywords: SolidWorks；Manipulator ；Three-dimensional Modeling；Motion Simulation

Abstract. It will use SolidWorks to design structure of Manipulator and to establish the
Three-dimensional Modeling based on automated welding robot of Shanghai Bamac Electric
Technology Co., Ltd.，then by using the plug of simulation and motion of SolidWorks, it will focus
on the Motion Simulation and Finite Element Analysis of the Manipulator. Finally the trajectory and
the work space of the Manipulate can be received, and provide a basis of manipulator analysis in
order to optimize the manipulator for the company.

Introduction
Machine hand claw similar to the parts of a man's hand, used for clamping workpiece or tool,
is a very important executive body. At present ,There is a wide range of applications in every field
such as automobile and auto parts manufacturing, machinery processing industry, electronic
industry, coal mining machinery, rubber and plastics industry, food industry, wood and furniture
manufacturing, etc. With the development of computer application technology, computer simulation
functionality in advance has become an important means of scientific research, and it plays an
important role in the process of feasibility demonstration, project design rationality and searching
best solutions. SolidWorks is one of the Desktop integration system that based on
CAD/CAE/CAM/PDM of Windows，and it has a strong character creation ability and assembly
control ability [1].This paper is based on automated welding robot of air conditioning refrigerator
compressor imported from Germany of Shanghai Bamac Electric Technology Co., Ltd. ,and shows
how to carry out the preliminary simulation and the analysis of the research in order to make this
technology localization and more optimization.
The basic principle of kinematics
Kinematics principle of rotating shift matrix is used to describe its working condition, the
gripper mechanism in the space of sports including translation, rotation or a combination of two

R
kinds of sports. This is a matrix of 4×4

0 1 ×
(1)

R is a matrix of 3×3 , which describe the rotary motion of the organization . is a

matrix of 3×1, used to describe the translational motion of the organization. Assuming that claw
goes around the space of any axis rotation u, Rotation Angle as , the rotation matrix can be
expressed as

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 Applied Mechanics and Materials Vol. 596 641

+ − +
+ + −
− + +
= (2)

=1−
=
=
The three axis of , , are direction cosine of u in the formula，and

Artifacts going around a rotating coordinate system is easy to implement in SolidWorks，But

around any axis of rotation, usually based on the rotation transformation matrix. After a series of
changes, to coordinate space arbitrary axis rotate around the axis of overlap, and components. The
basic theory of implementation：Artifacts revolve around coordinate system x axis u axis rotation
changes as space as an example. As shown in figure 1，The coordinate system of x，y，z is a Fixed

coordinate system. ， ， is a moving coordinate system，Axis of u is known，looking for

an axis of n which is vertical to u, and making it goes around the axis of z and overlap with axis of u;
The axis of x rotate the same vector as axis n. Rotating the same point of view, then cross-product u

and ，gaining the axis of ， Then the moving coordinate system of ， ， ，were got ,in
order to implement the rotation of axis of u [2].Gripper of institutions around the other axis of
rotation can be achieved through the same conversion.

Fig.1 Rotary coordinate transformation

When Institutions were translating，its translation matrix is

= (3)
In the formula

X=-

Y=-

Z=-
x，y，z are the fixed coordinates of coordinate system，X, Y, Z are the fixed coordinates of
moving system， ， ， (i=1，2，3) Are moving axis direction cosine of the coordinate system.
642 Mechatronics and Industrial Informatics II

Three-dimensional modeling of mechanical gripper

Three-dimensional modeling of mechanical gripper includes all parts of the assembly process and
the result of step modeling, virtual prototyping as follows:
1）Select the appropriate reference plane, the plane created a sketch of the various
components depending on the size and structure of the related components. Use
commands such as rotate, stretch, cut, features sweeps, lofts, etc. to complete the outline
of the basic characteristics of the various parts.
3）Use chamfers, fillets, ribs, etc. The command completed partial modeling.
4）In order to complete the modeling of all parts of the assembly as well as the relationship
between the various components constrained use SolidWorks assembly modules
individually assembled.
5）Accurate modeling and familiarity with the relevant parts of the relationship is the key to
the success of virtual prototype build. Eventually create a virtual prototype, The virtual
prototype was created as shown in figure 2

Fig.2 Mechanical gripper assembly drawings

Manipulator motion simulation and finite element analysis
3.1The simulation process of Manipulator motion
Checking formulas to calculate the degree of freedom in accordance with agency F=3n-2P1-P（4）
In the formula n——Represents the number of moving parts；
P1——The number of Low deputy；
Ph——The number of high deputy.
There are seven moving parts and ten low deputies without high deputy. 1 degrees of freedom
can be calculated through the formula. Original stopper is rotated flange，freedom F≧1,then the
number of Original stopper as many as freedom，Therefore, the agency has accurate motion. Then
the stress, displacement, velocity, acceleration, vibration analysis can be done by SolidWorks based
on the designed three-dimensional model of the mechanical gripper.
Its simulation modeling steps are as follows：
1）Selecting Simulation one of the SolidWorks plug-in and creating a new study. Selecting the
type of static. Options include setting load, the material, the results of such a unit system.
2）Material settings, user-defined material library material or choose from selected materials
inside the library, this design choice is alloy.
3）Constrained settings, Selecting the fixture and then select a face part as a fixed position. You
can select a set of constraints or more.
4）Load settings，Makes parts deformed external loads or stresses are designated to produce
parts，such as the force or pressure, in this embodiment the pressure suffered size is 100N.
 Applied Mechanics and Materials Vol. 596 643

3.2 Finite element analysis process and results of Manipulator

（1） Meshing and Finite Element Analysis
1）Selecting meshing module of Run module, according to the computer for analysis
recommended meshing . You can also set attainment parts of the grid. This paper is
divided according to the degree set parts mesh robot force conditions.
2）Selecting program running of the run module, observe and analyze the results, a minimum
safety factor (FOS), the stress and deformation conditions, completion of the
"post-processing" step.
（2） Results of Finite element analysis
After analysis, the distribution of corresponding deformation ,condition of vibration, stress
distribution can be got, but also animated to show the stress and deformation of the situation.
Analyzes eDrawing and generate HTML reports can be created according to the results of these.
Part of the report content in the material properties shown in Figure 3. The design of the spring in
the Y direction stress analysis is shown in Figure 4, the mechanical gripper angular displacement
analysis is shown in Figure 5, the slider velocity analysis is shown in Figure 6, the mechanical
gripper bearing vibration analysis is shown in Figure 7, the mechanical gripper bearing stress
analysis Figure 8. Solutions have been designed can be analyzed and improved based on these
analysis ,thereby greatly simplifying the design work and improve work efficiency.

Fig. 3 Properties of Material

With the Motion analysis of internal plug in motion the process of spring force of SolidWorks,
calculating the results, and generating charts, the Y direction in Figure 4 spring force conditions.

Fig. 4 Y-direction spring force analysis diagram

In order to observe the mechanical motion of the gripper clearly, Selecting the point. Selecting
Motion Study Properties, choosing the desired direction, as shown in Figure 5 of the angular
displacement situation as mechanical gripper.

Fig. 5 Mechanical analysis of gripper angular displacement diagram

644 Mechatronics and Industrial Informatics II

Analysis of each motion studies are in SolidWorks plug-in Motion. As shown in Figure 6, the
selection sliders can be analyzed using the method described above the linear speed of the
Z-direction.

Fig. 6 Slider velocity analysis chart

When a stationary state was interference mechanism, usually a fixed vibration frequency, this
frequency is also called natural frequency or resonant frequency. For each natural frequency, radiate
a physical shape, also called the mode shape [3].Frequency analysis is to calculate the natural
frequencies and associated mode shapes. Frequency analysis is to calculate the natural frequencies

and associated mode shapes. The basic principle is ω= . Theoretically, the entity has an unlimited
number of patterns. In theory, on the finite element analysis, the number of degrees of freedom
(DOF), there are many modes. In most cases, consider only part of the pattern in which.
When an entity is assumed dynamic load, and the load is a natural frequency of vibration, the
reaction that occurs is strongly resonance. Here taking a five modes of vibration, as shown in Figure
7 analysis to obtain the frequency and the different modes of vibration cycles.

Fig.7 Mechanical gripper bearing vibration analysis chart

According to the yield stress in different colors to display various parts of the stress suffered
by the situation, as shown in stress analysis (Fig. 8) in a yield stress of parts, a large part of the
stress exceeds the yield limit with striking red [4], a relatively small part by the stress of a lighter
color blue be represented.

Fig.8 Mechanical gripper bearing stress analysis chart

The designer is easy to find parts weaknesses based on the above finite element analysis
results, and it also can help designers to modify their design. After the stress analysis, SolidWorks
Simulation also shows the minimum safety factor of the part, which can help designers to further
refine the design.
 Applied Mechanics and Materials Vol. 596 645

Summary
Methods mentioned in the text of the motion of the mechanical gripper, such as stress analysis,
which can speed up the simulation of parts under stress conditions in a number of concepts and
scenarios, to shorten the design cycle and optimize the design conditions. Performing computer
simulation with SolidWorks enables the simulation of reality, you can also implement some
complex simulation curve agencies to make sport more vivid real, designing to provide further
improvement of brazing automation technology for Shanghai Bamac Electric Technology Co., Ltd.

ACKNOWLEDGMENT
This paper is supported by National Nature Science Foundation of China(61071203), the shanghai
finance project “Green Energy and Power Engineering(1010K131001)”and the Shanghai
excellent curriculum “Auto Control and Thermal Instrument(405ZK120015001)” .

BIOGRAPHICAL NOTES
LU Peng: man,born in 1990, Master, Shanghai Institute of Technology, China. His research
interests include noise and vibration control,energy saving technology, signal process, mechanical
fault diagnosis.

Corresponding Author: CHENG Dao-lai

CONTACT METHOD
College of Urban Construction and Safety Engineering, Shanghai Institute of Technology
A413,No.2 Teaching Building,No.100 Haiquan road, Fengxian District, Shanghai City,
China(P.C:201418)
E-mail:632953168@qq.com
Tel:15216838824

References
[1] ZHANG Jin-xi.SolidWorks and COSMOSMotion Mechanical simulation technology [M].BEI
Jing：Tsinghua University Press，2007.
[2] ZHANG Che. Dynamics of mechanic [M].BEI Jing：Higher Education Press, 2008.
[3] GUO Xiao-ning.Based on SolidWorks entities on both sides of the plane body motion analysis
[J]. Xi'an University of Technology, 2007（4）：392-395.
Mechatronics and Industrial Informatics II
10.4028/www.scientific.net/AMM.596

Motion Simulation and Finite Element Analysis of the Manipulator Based on SolidWorks
10.4028/www.scientific.net/AMM.596.640