Multi-body dynamics simulations of high speed transfer robots disposed between presses

High productivity of press lines is induced by high speed components such as the press devices and transfer robots disposed between presses. Also the flexibility of press lines is embodied by the change of die in press devices and the change of end-effector of transfer robots. So to speak, according to the change of handled material to be pressed, there should be the change of die in press devices and the change of end-effector of transfer robots. In order to exchange end-effectors of transfer robot easily, the additional prismatic axis is added at the conventional transfer robot with six degrees of freedom on the concept design step [1]. On the other hands, multi-body dynamics simulations are used for predicting and resolving problems of prototype concept models before the manufacturing and enhancing the completeness of prototype concept model [2]. In this paper, we describe the multi-body dynamics simulations for investigating that selected driving units of updated concept robots with seven degrees of freedom can satisfy the required tact time and required NT property of motor.