조립 공정에서 양팔 로봇의 구조에 따른 작업성 평가 방법 연구
A Study on the Performance Analysis of the Dual-arm Robot for the Assembly Task
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초록
Recently, interest of a dual arm robot which can replace humans is increasing in order to improve the working environment and solve the labor shortage. Various studies related with design and analysis of dual-arm robots have been conducted because dual arm robots can have various kinematic configurations according to the objective task. It is necessary to evaluate the work performance according to various kinematic structures of the dual arm robot to maximize its effectiveness. In the paper, the performance analysis is studied according to the shoulder configuration and the wrist configuration of the dual-arm robot by using main performance indices such as manipulability, condition number, and minimum singular value by assigning proper weight values to each objective motion. Performance analysis for the robotic assembly process is effectively carried out for each representative dual arm robot configuration.
Abstract
Recently, interest of a dual arm robot which can replace humans is increasing in order to improve the working environment and solve the labor shortage. Various studies related with design and analysis of dual-arm robots have been conducted because dual arm robots can have various kinematic configurations according to the objective task. It is necessary to evaluate the work performance according to various kinematic structures of the dual arm robot to maximize its effectiveness. In the paper, the performance analysis is studied according to the shoulder configuration and the wrist configuration of the dual-arm robot by using main performance indices such as manipulability, condition number, and minimum singular value by assigning proper weight values to each objective motion. Performance analysis for the robotic assembly process is effectively carried out for each representative dual arm robot configuration.
참고문헌 (22)
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