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http://dx.doi.org/10.14775/ksmpe.2020.19.12.062

Dynamic Analysis to Select Main Parts of Four-Axis Palletizing Robots  

Park, Il-Hwan (School of Mechanical Engineering, Changwon national UNIV.)
Jeon, Yong-Jae (School of Mechanical Engineering, Changwon national UNIV.)
Go, A-Ra (School of Mechanical Engineering, Changwon national UNIV.)
Seol, Sang-Seok (School of Mechanical Engineering, Changwon national UNIV.)
Hong, Dae-Sun (School of Mechanical Engineering, Changwon national UNIV.)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.19, no.12, 2020 , pp. 62-69 More about this Journal
Abstract
The demand for industrial robots is proliferating with production automation. Industrial robots are used in various fields, such as logistics, welding, and assembly. Generally, six degrees of freedom are required to move freely in space. However, the palletizing robot used for material management and logistics systems typically has four degrees of freedom. In designing such robots, their main parts, such as motors and reducers, need to be adequately selected while satisfying payload requirements and speed. Hence, this study proposes a practical method for selecting the major parts based on dynamic analysis using ADAMS. First, the acceleration torques for the robot motion were found from the analysis, and then the friction torques were evaluated. This study introduces a constant-speed torque constant instead of friction coefficient. The RMS torque and maximum power of each motor were found considering the above torques. After that, this study recommends the major specifications of all motors and reducers. The proposed method was applied to a palletizing robot to verify the suitability of the pre-selected main parts. The verification result shows that the proposed method can be successfully applied to the early design stage of industrial robots.
Keywords
Palletizing Robot; Dynamic Analysis; Selection of Motors; Constant-speed torque constant; ADAMS;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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