Computer study on the effect of an articulated robotʹs parameters on its dynamic characteristics under different balancing conditions Original Research Article

This paper presents a study which was conducted on the effect of a robotʹs geometrical parameters on its dynamic performance under different balancing conditions. This research was undertaken in pursuit of an optimal dynamic performance of industrial robots. In this study an indicator was established to quantitatively measure the dynamic performance of a robot arm with respect to changes in the geometrical parameters under different balancing conditions. Since the dynamic behaviour of a robotʹs arm is largely dependent on its inertia terms, the performance indicator was based on the logarithmic function of the sensitivity of the inertia matrixʹs eigenvalues to changes in a robotʹs geometrical parameters. Also, since the inertia matrix is a function of the joint displacement, the performance was examined for a particular parameter over a range of joint angles. This paper presents cases related to the effect of changing the twist angles on the dynamic performance of an articulated robot (PUMA 560). The results of this study, which are illustrated by three-dimensional surface plots, are discussed and analysed in this paper.