Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Experimental Study of the Robot Arm Applying the Gravity Compensator

중력보상기를 적용한 로봇 팔의 실험적 연구

  • 최형식 (한국해양대학교 기계공학과) ;
  • 서해용 (한국해양대학교 기계공학과) ;
  • 엄태웅 (한국해양대학교 기계공학과) ;
  • 윤종수 (한국해양대학교 기계공학과)
  • Received : 2010.07.09
  • Accepted : 2011.01.21
  • Published : 2011.01.31
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Abstract

In this paper, the structure of a gravity compensator(GC) was studied, and the 6-axis robot manipulator which is newly developed by applying the GC is presented to improve the torque performance and repeatability error of the robot joint. The kinematics analysis on the robot was presented. Also, experiments of the performance of the joint actuator of robot adopting the gravity compensator were presented by the GC to $1^{st}$ and $2^{nd}$ joints of the robot arm. According to the experiment results, it was validated that the position errors and load torque of the robot joint actuator adopting the GC are reduced significantly.

본 논문에서는 중력보상기의 구조에 대해 연구하였고, 이를 적용하여 토크 성능을 개선하고 위치 오차를 줄이는 새로운 구조의 6축 다관절 로봇 매니퓰레이터에 대하여 연구하였다. 로봇 팔의 기구해석을 하였다. 또한, 로봇 팔의 1 및 2 축에 중력보상기를 적용한 관절구동기의 성능시험을 하였다. 성능 시험결과, 중력보상기를 적용한 로봇 관절구동기의 외부부하와 반복위치 오차가 대폭 감소됨이 검증되었다.

Keywords

References

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