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http://dx.doi.org/10.14775/ksmpe.2022.21.02.054

Selecting Main Parts of a Four-Axis Palletizing Robot Through Dynamic Analysis of Rigid-Flexible Multibody Systems  

Park, Il-Hwan (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.21, no.2, 2022 , pp. 54-63 More about this Journal
Abstract
Among the various industrial robots, palletizing robots have received particular attention because of their higher productivity in accordance with technological progress. When designing a palletizing robot, the main components, such as the servo motors and reducers, should be properly selected to ensure its performance. In this study, a practical method for selecting the motors and reducers of a robot was proposed by performing the dynamic analysis of rigid-flexible multibody systems using ANSYS and ADAMS. In the first step, the links and frames were selected based on the structural analysis results obtained from ANSYS. Subsequently, a modal neutral file (MNF) with information on the flexible body was generated from the links and frames using modal analysis through ANSYS and APDL commands. Through a dynamic analysis of the flexible bodies, the specifications of the major components were finally determined by considering the required torque and power. To verify the effectiveness of the proposed method, the analysis results were compared with those of a rigid-body model. The comparison showed that rigid-flexible multibody dynamic analysis is much more useful than rigid body analysis, particularly for movements heavily influenced by gravity.
Keywords
Palletizing Robot; Rigid-Flexible Multibody System; Dynamic Analysis; Selection of Motors; ADAMS;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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