Fatigue Analysis of Low Level Links of a Parallel Topology Robot Guiding Device Mechanism

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The paper presents a fatigue analysis of low level links of a parallel topology robot guiding device mechanism. This mechanism has a FP3+3·RRS+MP3 structure. The 3D model of the guiding device is presented. In a SolidWorks Motion study, motion laws for motors are defined and a force is applied on the mobile platform MP3. The loads on low level links are imported in SolidWorks Simulation module. Then, von Mises stresses are determined by finite element method and, based on these results, fatigue analysis is performed. Two variants of low level links are analized: first, with no fillet between the base cylinder and the body and second, with fillet.

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98-105

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March 2012

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