Browse > Article
http://dx.doi.org/10.14775/ksmpe.2021.20.04.049

Modeling and Simulation of 4-Axis Dedicated Robot for CNC Lathe  

Kim, Han-Sol (Department of Control & Instrumentation Engineering(ERI), Gyeongsnag National UNIV.)
Kim, Gab-Soon (Department of Control & Instrumentation Engineering(ERI), Gyeongsnag National UNIV.)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.20, no.4, 2021 , pp. 49-56 More about this Journal
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).
Keywords
4-axis Dedicated Robot; Simulation; CNC Lathe; Joint Angle; Link;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Shirinzadeh, B., Teoh, P., Tian, Y., Dalvand, M., Zhong, Y. and Liaw, H., "Laser Interferometry-Based Guidance Methodology for High Precision Positioning of Mechanisms and Robots," Robotics and Computer-Integrated Manufacturing, Vol. 26, No. 1, pp. 74-82, 2010.   DOI
2 Ratcliffe, J. D., Lewin, P. L., Rogers, P. L., Hatonen, J. J. and Owens, D. H., "Norm-Optimal Iterative Learning Control Applied to Gantry Robots for Automation Applications," IEEE TRANSACTIONS ON ROBOTICS, Vol. 22, No. 6, pp. 1303-1307, 2006.   DOI
3 Baicu, D. H., Rahn, C. D. and Dawson, C. D., "Backstepping Boundary Control of Flexible-Link Electrically Driven Gantry Robots," IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 3, No. 1, pp. 60-66, 1998.   DOI
4 Baicu, C. F. and Rahn, C. D., "Active boundary control of a flexible single link gantry robot," in Proc. 13th IFAC World Congr., Vol. A, pp. 103-108, 1996.
5 Gu, J. S. and Silva, C. W., "Development and implementation of a real-time open-architecture control system for industrial robot systems," Intelligence, Vol. 17, No. 5, pp. 469-483, 2004.
6 Sahu, S., Choudhury, B. B. and Biswal, B. B., "A Vibration Analysis of a 6 Axis Industrial Robot Using FEA," Materials Today: Proceedings, Vol. 4, No. 2, Part A, pp. 2403-2410, 2017.   DOI
7 Zhang, Ji. and Cai, J., "Error Analysis and Compensation Method Of 6-axis Industrial Robot," International Journal on Smart Sensing and Intelligent Systems, Vol. 6, No. 4, pp. 1383-1,99, 2013.   DOI
8 Wu, K., Krewe, C. and Kuhlenkotter, C., "Dynamic performance of industrial robot in corner path with CNC controller,"Robotics and Computer-Integrated Manufacturing, Vol. 54, pp. 156-161, 2018.   DOI
9 Pan, Z., Polden, J., Larkin, N., Van Duin, S. and Norrish, J., "Recent Progress on Programming Methods of Industrial Robots," Journal Robotics and Computer-Integrated Manufacturing, Vol. 28, No 2, pp. 87-94, 2012.   DOI
10 Watanabe, A., Sakakibara, S., Ban, K., Yamada, M., Shen, G. and Arai, T., "A Kinematic Calibration Method for Industrial Robots using Autonomous Visual Measurement," CIRP Annals-Manufacturing Technology, Vol. 55, No. 1, pp. 1-6, 2006.   DOI