Development of a 6-axis Robot Using Multibody Dynamic Software

Based on multibody dynamic analysis software, this study has accomplished a customized robot developing technique. Initially, the geometry and functions of the customized robot are defined to fulfill the system assembly drawing and dimensional diagrams of mechanical components. With the usage of RecurDyn software, the standardized installed functions are simulated under various working conditions by changing the parameters such as torque, load, and acceleration. Accordingly, the design and analyses of the robot are completed. Further, the mechanical element is purchased according to the design scheme, and the technics including electric motor drive system, mechanism, transmission system, wirings, electromechanical system, and teach pendant program design are carried out. Finally, the prototype robot is completed and the performance testing is conducted.