Modelling of mechanical systems vibrations by utilisation of GRAFSIM software

The article presents a modelling process and a numerical vibration analysis of the ABB 4400/60 robot model by utilisation of GRAFSIM engineering program. The model has a discrete distribution of the parameters and is considered in two working positions. It has been attracted to two kinematic and one dynamic excitation. The GRAFSIM program that has been used to perform dynamic analysis of considered robot model works on the basis of the matrix hybrid graph model structure into block diagrams structure transformation algorithm [G. Wszołek, Hybrid graphs and block diagrams in analysing mechanical systems with control, Doctoral Thesis, Silesian University of Technology, Gliwice, 2002, Poland (in Polish); J. Świder, G.Wszołek, Graphs Application in Computer Analysis of Mechanical Systems, Monograph, Silesian University Publishing Company, Gliwice, 2002, Poland (in polish)].