Strength analysis and optimization of welding robot mechanism in emergency stop state

The contribution deals with the strength analysis and optimization of the welding robot mechanism in emergency stop state. The common operational positioning of the welding robot is characterized by smooth course of speeds in the time. The resulting load does not differ significantly from the static loading. However the safety requirements given by the norm require the ability of emergency stop function. Since the course of speed in time is rather steep the higher values of acceleration and thus higher excitation force is expected. The dynamical simulation performed describes the response of the robot mechanism in the form of stress course in time, quantifies the peak values of the stress caused by the dynamical component of loading and highlights the potential risks associated with this phenomenon