Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560

Current industrial robots are made very heavy to achieve high Stiffness which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of light weight manipulators as an alternative to today's massive inefficient ones. Light weight manipulators require Less energy to move and they have larger payload abilities and more maneuverability. However due to the dynamic effects of structural flexibility, their control is much more difficult. Therefore, there is a need to develop accurate dynamic models for design and control of such systems.This project presents the flexibility and Kineto Elasto dynamic analysis of robot manipulator considering deflection. Based on the distributed parameter method, the generalized motion equations of robot manipulator with flexible links are derived. The final formulation of the motion equations is used to model general complex elastic manipulators with nonlinear rigid-body and elastic motion in dynamics and it can be used in the flexibility analysis of robot manipulators and spatial mechanisms. Manipulator end-effector path trajectory, velocity and accelerations are plotted. Joint torques is to be determined for each joint trajectory (Dynamics) .Using joint torques, static loading due to link’s masses, masses at joints, and payload, the robot arms elastic deformations are to be found by using ANSYS-12.0 software package. Elastic compensation is inserted in coordinates of robotic programming to get exact end-effectors path. A comparison of paths trajectory of the end-effector is to be plotted. Also variation of torques is plotted after considering elastic compensation. These torque variations are included in the robotic programming for getting the accurate endeffect or’s path trajectory.