Simulation and Experiment of Overall Static Stiffness of Six-axis Welding Robot Based on ANSYS
3D modeling of a six-axis welding robot based on UG NX 12.0 and ANSYS Workbench software,using a sim-ple geometric model with equal mass and spring elements in Workbench to equivalently replace the end face stiffness and torsional stiffness of each joint reducer,and carrying out the static simulation of the initial and ultimate two positions under no-load and full-load conditions,this paper obtaines the displacement of the six-axis welding robot under full-load,and calculated the overall static stiffness of the six-axis welding robot.A laser tracker is used to conduct static stiffness experi-ments of a six-axis welding robot,and the actual static stiffness of the six-axis welding robot is calculated and derived,which verifies the reliability of the model.
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