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Published in:
2018 | OriginalPaper | Chapter
Finite Element Analysis as a Key Functionality for eRobotics to Predict the Interdependencies between Robot Control and Structural Deformation
Authors : Dorit Kaufmann, Jürgen Roßmann
Published in: Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter
Publisher: Springer Berlin Heidelberg
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The design and usage of a robot requests knowledge from many different disciplines, like mechatronics, materials science, data management etc. Nowadays, computational simulations are an acknowledged method to assure an effective development process of a robotic system. Nevertheless, those simulations are limited to the analysis of single components. This leads to a negligence of the overall picture, which can be fatal, as the failure of a system is often caused by a defective interplay of different components. The concept of eRobotics proposes a framework for an Overall System Simulation, where all occurring interdependencies are explicitly considered. Still missing is an interaction with Finite Element Analysis, which calculates the structural deformation of a component with respect to the actual load case. This work closes the gap and gives a newkey functionality to eRobotics, which allows analyzing the impact of structural deformation on robot control and vice versa.