Browse > Article
http://dx.doi.org/10.5050/KSNVN.2008.18.9.913

Dynamic Analysis of the Power Transmission System in an Industrial Robot  

Kim, Woo-Hyung (한양대학교 일반대학원 기계공학과)
Chung, Jin-Tai (한양대학교 공학대학 기계공학과)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.18, no.9, 2008 , pp. 913-919 More about this Journal
Abstract
Dynamic characteristics of a wrist power transmission of an industrial robot are studied. The wrist power transmission has complex structure characteristics, because it is composed with several shafts and gear system. We used an analytical method to investigate the dynamic characteristics. An analytical model is a rigid model which is composed with masses and springs. Both bearing and gear contact model represent equivalent stiffness springs which are determined by the experiment. In order to investigate the dynamic tendency of the robot wrist power transmission, we simulate the analytical model. There is a dynamic analysis tool which is called the RecurDyn. To verify the analytic results, we experiment a signal analysis which is an overall noise level of the robot. By the parametric study of the element of the robot, we study an improvement method of dynamic characteristics.
Keywords
Industrial Robot; Power Transmission; Vibration;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Ma, R. and Gupta, K. C., 1989, 'On the Motion of Oblique Bevel Geared Robot Wrists', Journal of Robotic Systems, Vol. 6, No. 5, pp. 509-520   DOI
2 Lee, Y. D. and Lee, J. M., 1987, 'A Study on the Vibration Characteristics of an Industrial Robot', Proceedings of the KSME Spring Annual Conference, pp. 546-551
3 James, I. T., 'The Gear Analysis Handbook', Printed in the United States of America
4 Park, C. I. and Lee, J. M., 1996, 'A Study on the Vibration Characteristics of Helical Gears with Tooth Errors', Journal of the KSME, Vol. 20, No. 5, pp. 1534-1542   과학기술학회마을
5 NGAI, K. W. and NG. C. F., 2001, 'Structurebone Noise and Vibration of Concrete Box Structure and Rail Viaduct', Journal of Sound and Vibration, Vol. 255, No. 2. pp. 281-297
6 Tsai, L. W., 1988, 'The Kinematics of Spatial Robotic Bevel-gear Trains', IEEE Journal of Robotics and Automation, Vol. 4, No. 2, pp. 150-156   DOI   ScienceOn
7 Lee, K. Y., Jung D. H., Chung J. T., Yim H. S. and Kim Y. H., 2003, 'A Study on the Noise and Vibration Reduction of an Industrial Robot', Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 13, No. 11, pp. 838-844   DOI   ScienceOn