Workspace analysis of a robot manipulator via cae tools

Robot manipulators are frequently used in automation system based on industrial applications like manufacturing, welding, painting and packing. Velocity, high sensitivity and quality are the advantages of the robot manipulators in manufacturing. During the design of such complicated geometric systems, modern engineering methods are often preferred rather than classical methods.In this study, static and dynamic analyses of an industrial robot manipulator are performed by using a commercial computer aided engineering software CosmosWorks, which uses the finite element method. End point static displacement and maximum von-Mises stresses on the robot manipulator are calculated numerically for different pay loads where the manipulator reaches to different points in three dimensional workspace. In this way, the static behavior of robot manipulator is determined in its workspace. In addition, natural frequency analyses are performed to identify the stiffness of the robot manipulator for different positions. Natural frequency variotions of manipulator in its workspace are presented in three dimensional space. Besides, joint torques which are required by the robot manipulator to perform some motions in different velocities are also investigated.