• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.91-92
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• 2006

High precision speed reducer which has a cycloid or involute teeth profile, used to in Robot. In this study, suggest to a new teeth profile, which has basically a triangle teeth profile. We had a stress analysis compare to convenient speed reducer for teeth profile. We has a good results in new teeth profile for strength, stress and stiffness.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.540-543
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• 2002

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, we proposed and constructed a new type of the robot actuator which is four-bar-link mechanism driven by the ball screw. We developed a new type of a revolute-jointed robot manipulator composed of four axes. The base axis is actuated with conventional speed reducer, but the others are actuated by the proposed actuators. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates, and then they are mapped into the sliding coordinates of the ball screw. The structure specifications of the manipulator shown.

• 한국지능시스템학회논문지
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• 제16권3호
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• pp.315-320
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• 2006

산업 현장에서는 많은 종류의 감속기들이 사용되고 있다. 그 중 로봇에서는 사이클로이드(cycloid) 치형 혹은 인벌루트(involute) 치형을 가진 고정밀도의 감속기를 사용한다. 그 이유는 로봇 시스템에서는 위치 제어를 하는데 있어서 고정밀의 감속기를 사용하는 것이 필수적이기 때문이다. 본 논문에서는 기본적으로는 삼각형 치형을 가지고 있지만 새로운 직선치형을 갖는 로봇 감속기(RSR)를 제안한다. 제안한 감속기는 유한요소 해석법을 이용한 강도, 응력, 강성 테스트에서 좋은 결과를 얻을 수 있었으며, 편심계수를 변화시켜 최적의 치형 운동을 얻을 수 있도록 설계하여 응력이 적게 걸리고 소음을 낮출 수 있도록 하였다.

• 드라이브 ㆍ 컨트롤
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• 제16권3호
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• pp.33-41
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• 2019

This study presents the development of a lifetime test bench for the strain wave reducer which is a precision gear reducer of the robot to realize fault diagnosis and failure prognostics. To this end, the lifetime test bench was designed to detect the vertical forward/reverse direction rotation load. Through the lifetime test bench, it is possible to apply the same load spectrum from robot working scenarios. We developed a data integration gateway for fault data collection. Through the development of dedicated software for fault diagnosis and failure prognostics, these data from vibration, noise and temperature sensors were collected and analyzed along with the operation of the lifetime evaluation.

• 동력기계공학회지
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• 제15권5호
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• pp.61-66
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• 2011

Recently, the speed reducer which is applied to robot has conducted a steady development on developments in the field of robotics. Among them, Harmonic drive is a high-stiffness, precision-controlled speed reducer and has high precision, compact, light in weight and high-reduction-ratio characteristics. The feature of flexspline of Harmonic Drive are two types. One is Cup type, the other is Silk Hat type. Silk Hat type is used in case of lighter and more compact in spatial because Silk Hat Type is hollow. According to the shape of silk hat, diaphragm is fractured because stress is concentrated. In this paper, the various shapes of silk hat are suggested to improve the durability of silk hat. And in the case of each shape, a study on stress and deformation using the FEM tool was carried out on flexspline.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.816-821
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• 2005

The cycloid reducer has very high efficiency, high ratios, high stiffness and small size, in comparison with a conventional gear mechanism, which makes it an attractive candidate for limited space and precision application such as industrial robot. There are several publications on analysis and design of the cycloid reducer, however, it was assumed that the contact stiffness of pin rollers and cycloid disk is constant regardless of their contact geometry. Moreover, the torsional stiffness of the cycloid reducer couldn't be calculated due to the assumption. In this paper, we present a new procedure of calculating torsional stiffness of the cycloid reducer using Hertz contact theory. First, conventional force analysis of the cycloid reducer is briefly reviewed. Then, iterative numerical calculation procedure of the contact stiffness is proposed based on the Hertz contact theory where the contact stiffness depends on the contact force. In addition, total torsional stiffness of the cycloid reducer is estimated considering its rolling element bearing stiffness. The torsional stiffness of the cycloid reducer is dominated by the rolling element bearing stiffness since the contact stiffness of the cycloid disk is too large.

• 한국정밀공학회지
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• 제22권6호
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• pp.98-108
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• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.

• 한국지능시스템학회논문지
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• 제17권1호
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• pp.19-25
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• 2007

로봇 시스템에서 사용되는 정밀 감속기 중에 사이클로이드 감속기는 높은 성능을 갖추고 있다. 이러한 사이클로이드 감속기를 설계하는 경우에는 많은 요소들을 고려해야 한다. 우선 기본 개념을 바탕으로 치형의 기하학적 분석이 그려져야만 한다. 그리고 기어의 이에 걸리는 하중과 스트레스, 수정계수를 정확히 계산하여야 한다. 마지막으로는 사이클로이드 치의 설계에 활용하기 위한 컴퓨터 소프트웨어는 기하학과 힙의 방정식을 기초로 발전할 필요가 있다. 이 논문에서 사이클로이드 감속기 설계 전문가 시스템은 비주얼C++를 사용하여 개발되어 진다. 그러므로 가장 중요한 요소는 사용자가 간단한 입력값을 넣음으로써 자동으로 구할 수 있다는 것이다.

• 한국소음진동공학회논문집
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• 제23권3호
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• pp.234-239
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• 2013

There are many types of speed reducer for industrial uses. However the cycloid speed reducer is widely used in manipulators based on excellent performance of low backlash, high reduction ratio and compact size. It is essential to use precision speed reducer for accuracy of position controls on robot systems and electric vehicles. The cycloid speed reducer has a eccentric rotating motion and offset to avoid some problem of assembly, so it has a disadvantage for vibration. In this paper, a multi-body dynamic model is developed for a cycloid speed reducer and the dynamic behaviors of the reducer are investigated. The cycloid speed reducer consists of cycloidal plate gears, housing gear, input shaft, output pin and shaft, and eccentric bearings. Using a CAD program, each component of cycloid reducer is modeled based on the offset and eccentric. Multi-body simulations using Recurdyn and test using a rig tester are performed. As a result, the pin reaction force and the amplitude of housing displacement are increased by the larger offset and smaller eccentric value of cycloid reducer.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.323-326
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• 1997

Conventional robots actuated by motors with the speed reducer such as harmonic drive had weakness in delivering loads, pressing, grinding, and cutting jobs. To overcome this, the developer a new type of robot actuated by the ball screw. The robot is an articulated shape, which is composed of four axes. The base axis is actuated similarly with conventional robot, but the others are actuated by four bars mechanism composed of the ball screw. We setup the dynamics model of the robot. The robot has parameter uncertainties and nonlinearlity due to the ball screw actuator. To coordinate the robot, we applied sliding-mode control.