변형체-강체 다물체 해석을 이용한 초중량물 핸들링로봇의 평가

A flexible-rigid multibody analysis was performed to examine the dynamic response of a heavy handling robot system under a worst motion scenario. A rigid body dynamics analysis was solved and compared with flexible-rigid multibody analysis. The modal analysis and test were also carried out to establish the accuracy and the validation of the finite element model used in this paper. For the flexible-rigid multibody simulation, stresses in several major bodies were interested, so that those parts are flexible and other parts are modeled as rigid body in order to reduce computer resources.