한국기계가공학회지 (Journal of the Korean Society of Manufacturing Process Engineers)

  • 제9권3호
  • /
  • Pages.1-7
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  • 2010
  • /
  • 1598-6721(pISSN)
  • /
  • 2288-0771(eISSN)
한국기계가공학회 (The Korean Society of Manufacturing Process Engineers)
권호 표지

초 중량물 핸드링 로봇의 성능평가에 관한 연구

A Study on the Performance Evaluation of Heavy Duty Handling Robot using Laser Tracker

  • 투고 : 2010.02.16
  • 심사 : 2010.06.10
  • 발행 : 2010.06.30
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초록

The aim of this research is to evaluate movement and path characteristics of developed heavy duty handling robot using laser tracker(API T3) according to the ISO 9283 robot performance evaluation criteria. As carry out 3D modeling and simulation using CATIA, a test cube was set up to select moving and measuring range of robot. Performance test for pose and distance accuracy, path and path velocity accuracy under payload zero and 440kgf was accomplished. The resulted output data show the reliability of the developed robot.

키워드

참고문헌

  1. Kim, M. K, Yoon, C. S., Kang, H. J, Ro, Y. S. and Son, H. R., "Development of a Performance Evaluation System Using Leica LTD Laser Tracker", Proc. of KSPE Spring conference, pp. 1001-1006, 2005.
  2. Jeong, D. Y. and Han, S. R., "Development of Off-line Simulator for Industrial Robots with Auto-teaching", J. of KSPE, Vol. 20, No. 12, pp. 80-88, 2003.
  3. Kim, D. H., Chung, K. J. and Park, C. H., "Analysis of Heavy Duty Robot for Design", Proc. of KSMTE Spring conference, pp. 125-130, 2007.
  4. Ryu, J. C, Hong, J. P., Rhim, S. S, Lee, S. G. and Park, K. R., "A study on Standardization of Performance Evaluation for Autonomous Cleaning Robot", Spring conference of KSPE, pp. 1054-1059, 2005.
  5. Kim, M. K, Yoon, C S. and Kang, H. J., "Development of a Robot Performance Evaluation System Program Using Auto Extration Algorism", Autumn conference of KSPE, pp. 955-970, 2005.
  6. ISO 9283, "Manipulating industrial Robots-Performance criteria and related test method", 1998.
  7. KS B ISO/TR 13309, "Manipulating industrial robots-Informative guide on test equipment and metrology methods of operation for robot performance evaluation in accordance with ISO 9283", KSA, 2002.