2 Attachment(s)

Testing stability of a model

Hello,

I am working on designing a mobile base for the UR10 robotic arm from Universal Robots. Whilst I am confident to use CAD to find the centre of mass, and maths to work out the moments whilst it is stationary, I understand that as the robotic arm moves the inertia will also affect the stability.

I have attached 2 images to demonstrate one of the movements which the robot would be doing with a very basic base (Final design will have a lot more to it than this).

Robot Position 1:

[IMG]https://www.engineersedge.com/engineering-forum/attachment.php?attachmentid=2023&stc=1[/IMG]

Robot Position 2:

[IMG]https://www.engineersedge.com/engineering-forum/attachment.php?attachmentid=2024&stc=1[/IMG]

I was wondering if there is a suitable CAD program to simulate the inertia of the arm & its role on the stability of the base? If not what would be the suitable equation to factor in intertia to the moments?

I keep coming across posts on various forums about working out moments whilst stationary, but nothing for moving objects....

Thanks

Adam W