• Title/Summary/Keyword: 다관절

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Kinematic and Structural Analysis of a 6-DOF Manipulator for Narrow-space Work (협소 공간 작업을 위한 6축 다관절 로봇의 기구학 및 구조해석)

  • Chung, Seong Youb;Choi, Du-Soon
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.18 no.3
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    • pp.666-672
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    • 2017

  • Our research team is developing a 6-DOF manipulator for narrow workspaces in press forming processes, such as placing PEM nuts on the bottom of a chassis. In this paper, kinematic analysis was performed for the position control of the manipulator, along with structural analyses for position accuracy with different payloads. First, the Denavit-Hatenberg (DH) parameters are defined, and then the forward and backward kinematic equations are presented using the DH parameters. The kinematic model was verified by visual simulation using Coppelia Robotics' virtual robot experimentation platform (V-REP). Position accuracy analysis was performed through structural analyses of deflection due to self-weight and deflection under full payload (5 kgf) in fully opened and fully folded states. The maximum generated stress was 22.05 MPa in the link connecting axes 2 and 3, which was confirmed to be structurally safe when considering the materials of the parts.

  • https://doi.org/10.5762/KAIS.2017.18.3.666 인용 PDF KSCI

Study on Three-Dimensional Curved-Surface Machining Using Industrial Articulated Robot (다관절 로봇을 이용한 3차원 곡면가공 방안에 관한 연구)

  • Jung, Chang-Wook;Noh, Tae-Yang
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.35 no.9
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    • pp.1071-1076
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    • 2011

  • NC machines are generally used for machining operations because of their position accuracy, path accuracy, and machining reaction force. However, some NC machines require a very large space and are expensive. Recently, industrial articulated robot arms with large handling capability and wrist torque have been developed and the corresponding sensor technology has been improved. A machining robot for three-dimensional large curved objects was developed on the basis of an automatic-path-generation method. A self-position-compensation method with a laser displacement sensor was adopted for the six-axis robot developed, because the large articulated robot arms had poor position accuracy. An automatic-path-generation method using specific points was adopted to reduce the number of teaching points and time. In order to determine the proper machining conditions, various machining conditions such as tool rotation speed, cutting angle, cutting depth, and tool moving speed, were evaluated.

  • https://doi.org/10.3795/KSME-A.2011.35.9.1071 인용 PDF KSCI

Evaluation of Multi-axis Robotic Manufactured Thermoplastic Composite Structure Using Stamp-forming Process (다관절 로봇 암 기반 고속 열 성형 공정을 활용한 열가소성 복합재 부품 평가)

  • Ho-Young Shin;Ji-Sub Noh;Gyu-Beom Park;Chang-Min Seok;Jin-Hwe Kweon;Byeong-Su Kwak;Young-Woo Nam
    • Composites Research
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    • v.36 no.5
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    • pp.321-328
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    • 2023

  • This study developed the in-situ stamp-forming process using the multi-axis robotic arm to fabricate thermal composite parts. Optimal fabrication parameters with the multi-axis robotic arm were determined using finite element analysis and these parameters were further refined through the practical manufacturing process. A comparison between the manufactured parts and finite element analysis results was conducted regarding thickness uniformity and wrinkle distribution to confirm the validity of the finite element analysis. Additionally, to evaluate the formability of the manufactured composite parts, measurements of crystallinity and porosity were taken. Consequently, this study establishes the feasibility of the In-situ stamp-forming consolidation using a robotic arm and verifies the potential for producing composite parts through this process.

  • https://doi.org/10.7234/composres.2023.36.5.321 인용 PDF HTML

Kinematic Analysis of a Legged Walking Robot Based on Four-bar Linkage and Jansen Mechanism (4절 링크 이론과 얀센 메커니즘을 기반으로 한 보행 로봇의 운동학 해석)

  • Kim, Sun-Wook;Kim, Dong-Hun
    • Journal of the Korean Institute of Intelligent Systems
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    • v.21 no.2
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    • pp.159-164
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    • 2011

  • In this study, a crab robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism, and its kinematics is analysed. A vision camera is attached to the mechanism, which makes the proposed robot a kind of biologically inspired robot for image acquisition. Three ultrasonic sensors are adopted for obstacle avoidance. In addition, the biologically inspired robot can achieve the mission appointed by a programmer outside, based on RF and Blue-tooth communication module. For the design and implementation of a crab robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

  • https://doi.org/10.5391/JKIIS.2011.21.2.159 인용 PDF KSCI