Dynamic Modeling and Simulation of One Kind of Industry Robot by DBEM

A systemic modeling method of an industry robot structure was proposed by mixed fundamental solutions, and the corresponding dynamic characteristics were analyzed. Generally, the robot structure can be modeled in beam, plate, spring and mass elements by a dynamic boundary element method (DBEM). Owing to lots of joints exist in the robot structure, the universal behaviors formulas of stiffness and damp are given in order to reasonable introduced flexible conditions in this paper, and the corresponding relational expressions of flexible conditions are established, too. At last, boundary dynamic equations of the robot structure are deduced based on dynamic and static fundamental solutions. According to the modeling process, flexible joints conditions have been introduced to the equations conveniently by interior items of domain and external force items in the equations. Numerical simulation and experiments show that the established method improves modeling precision and efficiency.