ANALYSIS OF STRESS AND ENERGY RESPONSE OF 5-DEGREE OF FREEDOM ROBOT ARM UNDER HARMONIC EXCITING

Abstract

Servo motor vibration is the main cause of position error and reduced accuracy of industrial robots. This study simulates the vibration response of a 5-degree-of-freedom robot arm when subjected to forced harmonic excitation using Abaqus/Standard software. The model uses structural steel material, with force F(t) = 10 sin(ωt), ω = 125.66 rad/s acting at the root joint in the Z-axis direction. The results show that the maximum stress reaches 25.78 MPa, concentrated at the second joint, while the total energy gradually decreases over time, demonstrating the system's ability to stabilize vibration. The simulation confirms the good rigidity of the robot structure and provides a basis for design optimization to reduce servo vibration.