스카라 로봇의 성능 평가에 의한 제 2 암의 최적 설계
Optimal Design of the Second Arm of a SCARA Robot Based on Performance Evaluation
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초록
In this paper, optimal design of the second arm in a SCARA robot was studied. The mass and moment of inertia of the second arm of a SCARA robot have great effects on performance indices such as cycle times and torques of the first and second axes. To reduce the mass and moment of inertia, optimal design was carried out by FEM analysis using parameters such as width and height of the arm rib, which was newly adopted to decrease the arm thickness in keeping stiffness. Computer simulation was conducted in X and Y directional paths. As a result of the optimal design, maximum torques of the first and second axes decreased by 10.1% in maximum.
Abstract
In this paper, optimal design of the second arm in a SCARA robot was studied. The mass and moment of inertia of the second arm of a SCARA robot have great effects on performance indices such as cycle times and torques of the first and second axes. To reduce the mass and moment of inertia, optimal design was carried out by FEM analysis using parameters such as width and height of the arm rib, which was newly adopted to decrease the arm thickness in keeping stiffness. Computer simulation was conducted in X and Y directional paths. As a result of the optimal design, maximum torques of the first and second axes decreased by 10.1% in maximum.
참고문헌 (5)
- 직접구동형 고속 스카라 로봇 개발, "송기무", 삼성종합기술원, ~ (1989)
- John J. Craig, "Introduction to ROBOTICS mechanics & control", pp.159~190 (1995), Addison-Wesley
- Richard P. Paul, "Robot Manipulators : Ma- thematics, Programming, and Control" (1982), The MIT Press
- P. G. Ranky, "ROBOT MODELING : Control and Applications with Software" (1985), IFS Ltd, UK Springer-Verlag
- H. ASADA, "ROBOT ANALYSIS AND CONTROL", pp.93~132 (1985), John Wiley & Sons