Finite Element Modeling of Dynamic Properties of the Delta Robot with Base Frame

The paper presents the finite element modeling of the dynamic properties of a delta robot attached to a steel frame. A distinguishing feature of the proposed modeling method is the application of the Guyan reduction method in modeling of frame foundations. The frame in question was analyzed in two variants: (i) without attached robot and (ii) with attached robot. Based on the established model, the dynamic properties (i.e., natural frequencies, mode shapes, and frequency response functions) of the frame in the two variants were analyzed. The obtained results were then experimentally verified and validated. It was found that the developed model showed an average relative error for natural frequencies of 4.3% in the case of the frame and 5.6% in the case of the frame with the robot. The paper demonstrated the validity of the proposed model, allowing accurate and fast determination of robotic system dynamic properties.