THIS PAPER PRESENTS A ROBOT WELDING TOOL DYNAMICS ANALYSIS PERFORMED WITH TANGO-UD. IN THE FIRST ANALYSIS, THE MOMENT OF INERTIA OF A WELDING GUN, AND THE PHYSICAL COMPONENTS THAT HAVE MAJOR CONTRIBUTIONS TO THE MOMENT OF INERTIA, ARE EVALUATED. IN THE SECOND ANALYSIS, WHERE THE WELD GUN DESIGN IS MODIFIED, TANGO-UD IS USED RECURRINGLY IN AN ATTEMPT TO OPTIMIZE THE MASS PROPERTIES OF THE WELDING GUN.
