Structural analysis for the main frame of a ball-ballancing robot based on finite element method

Abstract

Assistant robot is a model having capable of self-driving and interacting, assisting humans in various tasks. A usual design of assistant robot is a ball-balancing robot (BBR) with many outstanding features compared to conventional assistant robot models. However, for the stability of system and balancing capacity of robot on the ball, the calculation of the robot structure needs to be done carefully. This paper illustrates a process to calculate and analyze the main frame of a BBR based on the finite element method. Firstly, the characteristics and configuration of this robot are introduced. The mechanical structure and connection characteristics of the machine elements of the main frame are also described. From there, the finite element analysis model of the main frame of BBR robot is established to evaluate its working ability before proceeding to manufacture the actual product.