유한요소해석을 통한 도장 로봇용 텔레스코픽 암의 구조적 안정성 검토 및 설계 개선

Abstract

This study investigates the structural stability of a telescopic arm designed for a painting robot through finite element analysis (FEA). As factory automation progresses, robots are increasingly used to replace hazardous tasks like painting. However, the heavy weight of telescopic arms poses significant control challenges. This research specifically examines the structural stability of a 7.4-meter telescopic arm, designed for use in a 14m x 14m large-scale block painting environment. The telescopic arm consists of six steel links, each ranging from 700 mm to 1500 mm, and supports a 50 kg painting robot mounted at the end of Link 6. Using Dassault System’s Abaqus2022 software, simulations were performed in both stretched and rotated modes to analyze self-weight effects and structural stability. The results revealed maximum deflection of 92.3 mm in stretched mode and 127.3 mm in rotated mode, with the highest stress concentration of 416.8 MPa occurring at the Link 3 and Link 4 connection. To improve stability, additional reinforcement materials and an increase in connector thickness from 40 mm to 80 mm were applied, successfully reducing maximum stress to 94.3 MPa. These findings suggest an effective enhancement in the stability of the telescopic arm under various operational modes.