Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1993.10a
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- Pages.575-581
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- 1993
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- 2005-8446(pISSN)
Analysis of Aticulated Robot Manipulator to Reduce Body's Weight
경량화를 위한 수직 다관절로봇 매니퓰레이터의 해석
Abstract
This paper deals with analysis of articulated robot manipulator used for Arc welding and Material handling. Compared with present robot of which weight holding capacity is 6kg, this robot shows wider and symmetric working range for it's serial type mechanism. The link length is determined to have widest working range by using optimal simulation. To reduce body's weight, small AC servo motor is adopted and driving peak torque exerted at each joint is reduced by using dynamic analysis. So it is possible to reduce body's weight by 40% compared with the same class's robot and get wider working range. And by adopting modular design concept, each axis is designed to be changed easily for user's special need and repair.
Keywords