STRUCTURAL & DYNAMIC ANALYSES AND SIMULATION OF MOBILE TRANSPORTATION ROBOT

Abstract

In this study, structural and dynamic analyses were applied to the mobile transportation robot to find the structural strength and to calculate the power and torque requirements. The mobile transportation robot was designed using CAD (Computer Aided Design) software as two modules; mecanum wheeled locomotion module and robotic arm module, respectively. The analyses were carried on the CAE (Computer Aided Engineering) Software using the static structural and rigid body dynamics tools. In the structural analysis, the weight of the robot and the additional load (98.1 N) were applied to the body of the robot. The material of the robot body was selected as Aluminum 6061 O sheet metal. In the dynamic analysis, the operation environment and conditions were simulated in the CAE software. The structural analysis results showed that the factor of safety value was obtained as 10.282 under applied loads and this value indicates that the chassis of mobile transportation robot is supposed to carry loads reaching up to 30 kg without any functional and mechanical problem. Furthermore, from the dynamic analysis, the total torque requirement of the mobile robot was about 16.56 Nm.

Comparative Finite Element Analysis of a Novel Robot Chassis Using Structural Steel and Aluminium Alloy Materials

“…The omnidirectional mobility, which is one of the drive mechanisms for mobile robots, is defined as having motion capability to move instantly in all directions from any configuration. Omnidirectional vehicles are capable to translate in x and y directions and rotate about its gravity centre [5].…”