This paper deals with the stability of industrial robot arms with six axes and six degrees of freedom. The robot arm used was IRB120, a product of ABB company, which is used in the real industry, by using the commercial “DAFUL” which is a simulation program that can analyze the dynamic behavior. DAFUL was applied to the robot arm to control the motion by applying the load to the robot arm and then the structural analysis of the robot arm was performed during the analysis time. As a result of the analysis of the robot arm, the stress and displacement acting on the elliptic model and the acting torque and force were analyzed. Based on the analysis results, stability was checked with reference to IRB120 product catalog.

ABSTRACT
 1. 서 론
 2. 본 론
  2.1 로봇팔의 구조해석
  2.2 로봇팔 유한요소 모델
  2.3 로봇팔의 응력 해석
 3. 결 론
 References

• 김세종(Department of Mechanical Engineering, Yeungnam University) | Se-Jong Kim
• 김진호(Department of Mechanical Engineering, Yeungnam University) | Jin-Ho Kim Corresponding Author