Structural analysis of a delta-type parallel industrial robot using flexible dynamic of ANSYS 11.0

This paper presents a novel simulation tool for structural analysis of a delta robot using SOLID EDGE and ANSYS 11 that allows optimization of the robot´s mechanical structure as regards to materials, geometry and manufacture costs. To develop this simulation tool, a three-dimensional model of the delta robot was obtained through SOLID EDGE, and trajectory analysis was carried out, resulting in selection of critical trajectory between several possible movements. Finally, dynamic structural analysis of the robot was run on Flexible Dynamic ANSYS 11, taking into account the dynamic forces of inertia intervening in the model, as well as stress analysis along the selected critical trajectory.