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http://dx.doi.org/10.5916/jkosme.2010.34.2.318

Structure Analysis of the Light Robot Manipulator Capable of Handling Heavy Payloads  

Choi, Hyeung-Sik (한국해양대학교 기계공학과)
Cho, Jong-Rae (한국해양대학교 기계공학과)
Hur, Jae-Gwan (한국해양대학교 기계공학과 대학원)
Chun, Chi-Kwang (한국해양대학교 기계공학과 대학원)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.34, no.2, 2010 , pp. 318-324 More about this Journal
Abstract
In this paper, the structure of the gravity compensator has been designed and applied to a light structure of a new 6-axis robot manipulator to enhance its torque performance. Also, analyses on the kinematics and inverse-kinematics of the manipulator have been performed. An FEM analysis has been performed on the structure of robot links to have an excellent performance of delivering 25 kg payload despite of 30kg weight, which is very light compared with other manipulators. Through the FEM analysis, the stability on the vending or fracture of the links of the robot manipulator has been verified.
Keywords
Robot manipulator; Structure analysis; Light robot; heavy loads;
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