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Table of contents
1 Introduction
1.1 Background to the report
1.2 The problem
1.3 Purpose and goal
1.4 Limitations
1.5 Method
1.5.1 General
1.5.2 The strain test
2 Background
2.1 ABB Robotics
2.2 FEM
2.3 Previous work
2.4 NASTRAN
2.5 Development of the methods
3 Theory
3.1 One dimensional elements and mpc’s
3.1.1 RBE2 and RBE3
3.1.2 CBUSH
3.1.3 CGAP
3.1.4 CBEAM
3.2 Tetrahedral
3.3 Linear elasticity
3.4 Bearings
3.5 Calculations for beam geometry
3.6 Calculations for CGAP defined stiffness
3.7 Von Mises stress
4 Models
4.1 Wrist model preparation
4.1.1 CAD and FE-model
4.1.2 Load sub-cases
4.2 Model A – Single point RBE2-connections
4.3 Model B – Single point RBE3-connections
4.4 Model C – Multi CGAP-spokes
4.5 Model D – Single CGAP-spokes
4.6 Model E – Single CBEAM-spokes
4.7 Model F – Inner CBEAM-mix
4.8 Model G – Outer CBEAM-mix
4.9 Model H – CGAP defined stiffness
4.10 Model X – RBE3 ring
4.11 Model Z – RBE2 rigid ring
5 Measure points
6 Results – Simulation and Experimental
6.1 Graphical results from the simulations
6.2 Solving time
6.3 Stresses
7 Analysis
7.1 Error ratio
7.2 Pattern error
7.3 Stress direction
8 Discussion
8.1 Reliability of the results
8.2 The time consuming CGAP
8.3 Evaluation of the models
8.4 The failed models
9 Conclusion
10 Suggestions for continued work
11 Sources
Appendix
A. Parameters of the Models
B. Calculations
C. Figures
D. Diagrams
E. Tables
