2축 직교좌표 로봇에서 2축 직선 운동 가이드가 로봇의 기계적 성능에 미치는 영향
Effect of 2nd Axis Linear Motion Guide on Mechanical Performance of Robot in 2-Axis Cartesian Coordinate Robot
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초록
Robots in various types carry and assemble parts through repeatedly and accurately moving to stored locations by combining linear motions. And, linear systems are used in orthogonal axes of robots and driven via ball screws, such as 2-axis cartesian coordinate robot in this paper. This paper presents the effect of the linear motion guide that is used in 2^(nd) axis in 2-axis cartesian coordinate robot. Some simulation results show that the linear motion guide influence greatly in robot performance such as the nominal life of linear guide. When use LM guide that have capacity near in 2^(nd) axis, this paper show that the nominal life on LM block of 1^(st) axis increases 37.4% and that the specification of 2nd axis LM guide influences greatly the nominal life of 1^(st) axis LM block.
Abstract
Robots in various types carry and assemble parts through repeatedly and accurately moving to stored locations by combining linear motions. And, linear systems are used in orthogonal axes of robots and driven via ball screws, such as 2-axis cartesian coordinate robot in this paper. This paper presents the effect of the linear motion guide that is used in 2^(nd) axis in 2-axis cartesian coordinate robot. Some simulation results show that the linear motion guide influence greatly in robot performance such as the nominal life of linear guide. When use LM guide that have capacity near in 2^(nd) axis, this paper show that the nominal life on LM block of 1^(st) axis increases 37.4% and that the specification of 2nd axis LM guide influences greatly the nominal life of 1^(st) axis LM block.
참고문헌 (8)
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- 이종신, "일정한 가반 하중이 작용하는 스카라 로봇에 대한 신경망을 이용한 기계적 처짐 오차 보상 제어", 제어.로봇.시스템학회 논문지, 15(7), pp.728~733 (2009), 제어·로봇·시스템학회
- 이종신, "2축 직교좌표 로봇의 성능 향상을 위한 액츄에이터 설계에 관한 연구", 한국기계기술학회지, 12(4), pp.1~10 (2010), 한국기계기술학회
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