Modelagem, Simulaςão da Movimentaςão e Análise Modal, por Elementos Finitos, de Manipuladores Mecânicos

Abstract

In this paper the modelling and simulation of the motion of a robot mechanism is presented, employing a standard beam-tyoe element with distributed mass, possibly of null length. Two kinds of nodes are supported: a one-degree-of-freedom kinematic pair (revolution or slipping) and a rigid connection. Using this element and nodes several computer programs have been developed, capable of not only modelling but also performing the modal analysis of industrial robots throughout the assumed work trajectories.