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

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Modeling and Simulation of 4-Axis Dedicated Robot for CNC Lathe

CNC 선반용 4축 전용로봇의 모델링 및 시뮬레이션

  • Kim, Han-Sol (Department of Control & Instrumentation Engineering(ERI), Gyeongsnag National UNIV.) ;
  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering(ERI), Gyeongsnag National UNIV.)
  • 김한솔 (경상대학교 제어계측공학과) ;
  • 김갑순 (경상대학교 제어계측공학과)
  • Received : 2021.01.22
  • Accepted : 2021.02.04
  • Published : 2021.04.30
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Abstract

This paper describes the modeling and simulation of a four-axis dedicated robot that can attach and detach a workpiece on a computer numerical control (CNC) lathe. The robot was modeled as a Scarab robot for compatibility with CNC lathes. The advantages of such a robot are that an actuator with a small capacity can be used for the robot and the degrees of freedom of the robot can be reduced to four. For the simulation of the four-axis dedicated robot, a regular kinematic equation and an inverse kinematic equation were derived. Simulations were performed with these equations from the position of the loading device to the chuck position of the lathe before machining and from the chuck of the lathe to the position of the loading device after machining. The simulation results showed that the four-axis dedicated robot could be operated accurately, and they provided the joint angle of each motor (θ1, θ2, and θ3).

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References

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