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http://dx.doi.org/10.14775/ksmpe.2022.21.02.116

ANSYS®-Based Gear Stress Analysis of a Lightweight 3-DOF Wrist Mechanism for a Parallel Robot with Expanded Workspace  

Park, Sang Hyeok (School of Mechantroniucs, CHANGWON UNIV.)
Chung, Won Jee (School of Mechantroniucs, CHANGWON UNIV.)
Hwang, Hui Geon (School of Mechantroniucs, CHANGWON UNIV.)
Kim, Hong Rok (School of Mechantroniucs, CHANGWON UNIV.)
Choi, Se Woong (School of Mechantroniucs, CHANGWON UNIV.)
Jee, Myeong Jun (AUTONICS)
Hong, Woo Cheol (AUTONICS)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.21, no.2, 2022 , pp. 116-122 More about this Journal
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
Parallel Robot; 3-DOF Wrist Mechanism; Structural Analysis;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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