• Title/Summary/Keyword: 프로펠러 연삭작업

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Study on Propeller Grinding Applied by a High Stiffness Robot (고감성 로봇을 이용한 프로펠러 연삭에 관한 연구)

  • Lee, M.K.;Park, B.O.;Park, K.W.
    • Journal of the Korean Society for Precision Engineering
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    • v.14 no.12
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    • pp.56-65
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    • 1997
  • This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

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Development of a Parallel-Serial Robot Arm for Propeller Grinding (프로펠러 연삭작업을 위한 병렬-직렬 로보트 암 개발)

  • Lee, Min Ki;Choi, Byung Oh;Jung, Jong Yoon;Park, Kun Woo
    • Journal of the Korean Society for Precision Engineering
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    • v.13 no.2
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    • pp.146-158
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    • 1996
  • This paper develops a robot arm for propeller blade grinding. The grinding work requires a high stiffness robot arm to reduce deformation and vibration which are generated during machining operation. Conventional articulated robots have serial connecting links from the base to the gripper. Thus, they have very weak structure to the stiffness for grinding operation. Stewart Platform is a typical parallel robotic mechanism with very high stiffness but it has small work space and large installation space. This research proposes a new grinding robot arm by combining parallel mechanism with serial mechanism. Therefore, the robot has large range of work space as well as high stiffness. This paper introduces the automatic system for propeller grinding utilizing the robot and the design of proposed robot arm.

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