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

  • 제17권3호
  • /
  • Pages.155-162
  • /
  • 2018
  • /
  • 1598-6721(pISSN)
  • /
  • 2288-0771(eISSN)
한국기계가공학회 (The Korean Society of Manufacturing Process Engineers)
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경량 델타로봇의 모델링 및 모션 제어

Modeling and Motion-control for a Light-weight Delta Robot

  • 김성일 (금오공과 대학교 기계시스템공학과대학원) ;
  • 홍준호 (금오공과 대학교 기계시스템공학과대학원) ;
  • 신동원 (금오공과 대학교 기계시스템공학과)
  • Kim, Seong-Il (Department of Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Hong, Jun-Ho (Department of Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Shin, Dongwon (Department of Mechanical System Engineering, Kumoh National Institute of Technology)
  • 투고 : 2018.02.07
  • 심사 : 2018.04.02
  • 발행 : 2018.06.30
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초록

Delta robots are usually used for industrial manufacturing, but heavy weight and expensive price have been obstacles to rapid propagation of robots in the field. The goal of this research is to make light-weight and price-competitive delta robots. To reduce the weight, we used plastic material for the arm link, and to reduce the price, we used a step-motor as the main actuator. First we formulated the equations of inverse kinematics for the designed delta robot and then verified these equations by using multibody-dynamics simulation. An algorithm of motion control was developed and applied to the motion-processing unit using a timer-interrupt of 8 milliseconds. Finally, we tested the performance of the new delta robot by checking its control of motion along line segments.

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참고문헌

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