Description

For the portal of a welding robot the vibration response for the most unfavorable case of emergency stop from full speed with unfavourable movement of the robots arms was to be calculated.

What we did

For the preloaded portal frame a vibration investigation with the fe-program Ansys was accomplished. Using the natural oscillation of the frame in different directions the associated, most unfavorable load sequence could be determined. Calculating the displacements of the damped vibration we got the time delays needed to ensure a sufficient positioning accuracy for the welding robot.