[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.14775/ksmpe.2021.20.04.016

A Study on the Cooperative Kinematic Inter-operation of 2-Axis (Tilting/Rolling) Additional Axes with a 6-Axis Articulated Robot Using Simulink of MATLAB^Ⓡ and Recurdyn^Ⓡ

Bae, Seung-Min (Changwon National University)
Chung, Won-Jee (Changwon National University)
Noh, Seong-Hoon (Youngchang Robo-tech)

Publication Information

Journal of the Korean Society of Manufacturing Process Engineers / v.20, no.4, 2021 , pp. 16-23 More about this Journal

Abstract

Currently, 6-axis articulated robots are used throughout the industry because of their 6-dof (degrees of freedom) and usability. However, 6-axis articulated robots have a fixed base and their movements are limited by the rotational operating range of each axis. If the angle of the 2-axis additional axes can be adjusted according to the position and orientation of the end-effector of the 6-axis articulated robot, the effectiveness of the 6-axis articulated robot can be further increased in areas where the angle is important, such as welding. Therefore, in this paper, we proposed a cooperative kinematic inter-operation strategy. The strategy will be verified using the Simulink of MATLABⓇ, an engineering program, and RecurdynⓇ, a dynamic simulation program.

Keywords

6-Axis Articulated Robot; 2-Axis Additional Axes; Cooperative Kinematic Inter-operation Strategy; Angle; Simulink;

Citations & Related Records

Reference

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