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Within ABB Robotics R&D Mechanical Analysis development group we are responsible for simulating, optimizing and calculating the Manipulators, the mechanical robot products, to achieve a proper balance between performance, strength, quality and cost. We continuously develop new types of manipulators consisting of motors, gears and actual arms. When modelling structural arms one challenge is to build an accurate model with reasonable time spent on both modelling and solving the model. With the continuously optimization of components the impact on the results from the relative stiffness of the components increases.
One of these components is the compact gears which are used on most axes on a modern industrial manipulator.
The goal of this thesis work is to investigate different concepts of modelling of compact gears in Finite Element models with reasonable effort for model building that suits the everyday work. These models are then verified by strain measurements on actual manipulators that we have in our laboratory. The software used for modelling is Ansys.
• Period: January-June 2020
• Number of credits: 30 ECTS/högskolepoäng(hp)/master thesis
• Number of students: 1 student
• Location: Most time on site, Robotics R&D office at Finnslätten, Västerås
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