Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
권호 표지
DOI QR코드

DOI QR Code

Dynamic Analysis of the Power Transmission System in an Industrial Robot

산업용 로봇 손목의 동력 전달계에 대한 동특성 해석

  • 김우형 (한양대학교 일반대학원 기계공학과) ;
  • 정진태 (한양대학교 공학대학 기계공학과)
  • Published : 2008.09.20
Download PDF
⟨ Previous Next ⟩

Abstract

Dynamic characteristics of a wrist power transmission of an industrial robot are studied. The wrist power transmission has complex structure characteristics, because it is composed with several shafts and gear system. We used an analytical method to investigate the dynamic characteristics. An analytical model is a rigid model which is composed with masses and springs. Both bearing and gear contact model represent equivalent stiffness springs which are determined by the experiment. In order to investigate the dynamic tendency of the robot wrist power transmission, we simulate the analytical model. There is a dynamic analysis tool which is called the RecurDyn. To verify the analytic results, we experiment a signal analysis which is an overall noise level of the robot. By the parametric study of the element of the robot, we study an improvement method of dynamic characteristics.

Keywords

References

  1. Ma, R. and Gupta, K. C., 1989, 'On the Motion of Oblique Bevel Geared Robot Wrists', Journal of Robotic Systems, Vol. 6, No. 5, pp. 509-520 https://doi.org/10.1002/rob.4620060503
  2. Tsai, L. W., 1988, 'The Kinematics of Spatial Robotic Bevel-gear Trains', IEEE Journal of Robotics and Automation, Vol. 4, No. 2, pp. 150-156 https://doi.org/10.1109/56.2078
  3. Lee, K. Y., Jung D. H., Chung J. T., Yim H. S. and Kim Y. H., 2003, 'A Study on the Noise and Vibration Reduction of an Industrial Robot', Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 13, No. 11, pp. 838-844 https://doi.org/10.5050/KSNVN.2003.13.11.838
  4. Lee, Y. D. and Lee, J. M., 1987, 'A Study on the Vibration Characteristics of an Industrial Robot', Proceedings of the KSME Spring Annual Conference, pp. 546-551
  5. James, I. T., 'The Gear Analysis Handbook', Printed in the United States of America
  6. Park, C. I. and Lee, J. M., 1996, 'A Study on the Vibration Characteristics of Helical Gears with Tooth Errors', Journal of the KSME, Vol. 20, No. 5, pp. 1534-1542
  7. NGAI, K. W. and NG. C. F., 2001, 'Structurebone Noise and Vibration of Concrete Box Structure and Rail Viaduct', Journal of Sound and Vibration, Vol. 255, No. 2. pp. 281-297