Determining the Advantages of a Linear Driven 3-Axis Industrial Robot by Structural and Force Analysis

Abstract

The most important factors affecting the operation of industrial robots are the carrying capacity, the weight of the parts, the vibrations in the arms and the cost. The cost of the robot increases as the weight of the parts are increased. The forces falling on the motors and the accelerations at the end of the robot driven by the pushing force or rotational moment were measured and compared. In addition, modal analysis, forced vibration analysis and harmonic analysis of the robot were performed in two different drive systems, and the structural condition of the robot was examined. Thus, the robot designed in this study has advantages in terms of both structural and cost compared to other robot arms. In this design, the torques of the motors are very small and using smaller motors in each arm of the robot and to making the movement according to these weights reduce the cost very much. Likewise, it is seen that the robot can be operated using this design according to the accelerations measured at the end-point and the structural analysis. This robot can be applied to systems that have lower cost and need to carry more payloads.