Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Study on Robot Manipulator applying the Gravity Compensator

중력 보상기를 적용한 로봇 매니퓰레이터 연구

  • 최형식 (한국해양대학교 기계공학과) ;
  • 허재관 (한국해양대학교 기계공학과 대학원) ;
  • 서해용 (한국해양대학교 기계공학과 대학원) ;
  • 홍성율 (한국해양대학교 기계공학과 대학원)
  • Received : 2010.01.07
  • Accepted : 2010.03.11
  • Published : 2010.03.31
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Abstract

In this paper, the structure of a gravity compensator was studied, and the 6-axis robot manipulator which is newly developed by applying the gravity compensator is presented to improve the torque performance of the robot joint. The kinematics analysis on the robot was presented. Also, a simulation of the performance of the joint actuator of robot adopting the gravity compensator was presented by applying various springs. According to the simulation results, it was validated that the payload effect on the robot joint actuator adopting the gravity compensator is reduced in proportion to the spring intensity of the gravity compensator.

중력보상기의 구조에 대해 연구하였고, 이를 적용하여 로봇 관절의 성능을 개선하기 위하여 새롭게 개발한 6축의 로봇 매니퓰레이터에 대해 설명한다. 로봇의 기구학 해석을 하였다. 또한, 다양한 스프링으로 구성된 중력보상기를 적용한 로봇 관절구동기의 성능에 대하여 시뮬레이션 하였다. 시뮬레이션 결과에 따르면, 중력보상기를 적용한 로봇 매니퓰레이터의 관절에 가해지는 외부부하는 중력보상기에 사용되는 스프링의 강도에 비례하여 줄어드는 것이 검증되었다.

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