Daful을 이용한 산업용 로봇팔의 구조해석에 관한 연구
A Study on the Dynamic Behavior of Industrial Robotic Arm Using Daful
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초록
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
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.
참고문헌 (5)
- CRISTOIU, "Cozmin; NICOLESCU, Adrian. New approach for forward kinematic modeling of industrial robots", Res. &Sci. Today, 13, pp.136~ (2017)
- LIU, Yong, "Development and experiment of CSM-based industrial robot servoing control system", Cyber Technology in Automation, Control and Intelligent Systems (CYBER), 2013 IEEE 3rd Annual International Conference on, pp.108~113 (2013), IEEE
- VARHEGYI, Thomas, "A Visual Servoing Approach for a Six Degrees-of-Freedom Industrial Robot by RGB-D Sensing", ~
- Se-Dong Kim, "A Study on Development of Railway Driving System for High Place Operation Car Using DAFUL", Transactions of the Korean Society of Mechanical Engineers, pp.66~67 (2017)
- 신유정, "철근 밴딩기 롤러의 피로파괴 CAE 해석", 한국기계가공학회지, 14(2), pp.75~80 (2015), 한국기계가공학회[DOI]