Dynamic modeling of industrial manipulator Hyundai HS165 in order to determine the dynamic load-carrying capacity for a specified trajectory

Abstract

In this paper, modeling of kinematics and dynamics of industrial manipulator Hyundai HS165 is carried out, and the obtained model is simulated in MATLAB. This specific manipulator is used in Saipa company mainly for spot welding, and about 70 manipulators are used in different production lines. The simulation results from the kinematic model are compared to results obtained from HRSpace software and experimental tests, and the validity of the model is confirmed. The dynamic load-carrying capacity (DLCC) of the manipulator is calculated according to the dynamic model and the characteristic graph of actuators. Comparing the calculated DLCC to the real DLCC indicates the accuracy of the dynamic model.