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

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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ANSYS®-Based Gear Stress Analysis of a Lightweight 3-DOF Wrist Mechanism for a Parallel Robot with Expanded Workspace

고속 확장된 작업공간을 가진 병렬 로봇을 위한 경량 3-DOF 손목 메커니즘의 ANSYS 기반 응력해석

  • Received : 2021.11.15
  • Accepted : 2021.12.28
  • Published : 2022.02.28
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Abstract

This study proposed a method of testing the stability when selecting gears to reduce the weight of a 3-DOF wrist mechanism for a pick-and-place 3-DOF parallel robot with an increased workspace by using an additional straight axis at its top. We performed SolidWorks® modeling- and ANSYS®-based structural analysis of a pinion gear, which is most vulnerable to the force from a 3-DOF wrist mechanism, to lighten the robot weight for performing various tasks. When the initial analysis results considerably differed from the theoretical values calculated in advance, we checked and identified the errors in the contact conditions or input values. Ultimately, it is believed that the methodology presented in this paper will help in mitigating errors during analysis and determine the accurate values for a lightweight 3-DOF wrist mechanism for a parallel robot with an expanded workspace.

Keywords

Acknowledgement

이 논문은 2019년도 제20004636호, 작업공간 확장 구현을 위한 부가 직선축을 가진 보급형 병렬로봇시스템 개발 연구비 지원에 의하여 연구되었음.

References

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