Articles | Volume 16, issue 2
https://doi.org/10.5194/ms-16-391-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-391-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Joint kinematics and dynamics analysis of a 6-DOF loading and unloading industrial robot based on ADAMS and ANSYS
Jianfei Xu
School of Intelligent Manufacturing, Wuhu University, Wuhu 241008, China
Zhou Xu
CORRESPONDING AUTHOR
School of Electrical and Automation, Wuhu Institute of Technology, Wuhu 241006, China
Lei Yang
School of Mechanical Engineering, Anhui Technical College of Mechanical and Electrical Engineering, Wuhu 241002, China
Zhengyong Tao
School of Automotive Engineering, Wuhu University, Wuhu 241008, China
Min Qu
School of Automotive Engineering, Wuhu University, Wuhu 241008, China
Hui Wu
School of Automotive Engineering, Wuhu University, Wuhu 241008, China
Mingming Wu
CORRESPONDING AUTHOR
School of Intelligent Manufacturing, Wuhu University, Wuhu 241008, China
School of Automotive Engineering, Wuhu University, Wuhu 241008, China
State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines, Anhui University of Science and Technology, Huainan 232000, China
Anhui Key Laboratory of Mine Intelligent Equipment and Technology, Anhui University of Science & Technology, Huainan 232001, China
Tianjin Key Laboratory of Optoelectronic Detection Technology and System, Tianjin 300387, China
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Mech. Sci., 17, 951–965, https://doi.org/10.5194/ms-17-951-2026, https://doi.org/10.5194/ms-17-951-2026, 2026
Short summary
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Stone stairs slowly wear as people walk on them, but these marks are often hard to interpret. This study used three-dimensional scans and computer modeling to connect tread shape with walking use and age. Tests on four staircases showed that the method could recognize different walking patterns and estimate use age with 94.4 % average accuracy while remaining stable when material aging and small scan errors were considered.
Short summary
In this work, firstly, a 3D model of a loading and unloading industrial robot was established. Then, kinematics and dynamics analyses were conducted. Subsequently, based on the results of the dynamics analysis, transient dynamics simulations were carried out to verify the strength and stiffness of the industrial robot, laying a solid foundation for subsequent optimization.
In this work, firstly, a 3D model of a loading and unloading industrial robot was established....