Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamic Modeling of a Novel ATC Mechanism based on 4-bar Linkage

4절링크를 기반으로 하는 신개념 ATC 메커니즘의 동역학 해석

  • Lee, Sangho (Creative Robot Design Lab., School of Mechanical Engineering, Yeungnam University) ;
  • Kim, Jong-Won (Robust Design Eng. Lab., School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Seo, TaeWon (Creative Robot Design Lab., School of Mechanical Engineering, Yeungnam University) ;
  • Kim, Jongwon (Robust Design Eng. Lab., School of Mechanical and Aerospace Engineering, Seoul National University)
  • 이상호 (영남대학교 기계공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 서태원 (영남대학교 기계공학부) ;
  • 김종원 (서울대학교 기계항공공학부)
  • Received : 2015.11.07
  • Accepted : 2016.03.24
  • Published : 2016.04.01
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Abstract

Recently, demands on the tapping machine are increased due to the case of a cell phone is changed to metal such as aluminum. The automatic tool changer (ATC) is one of the most important devices for the tapping machine related to the speed and energy consumption of the machine. To reduce the consumed energy and vibration, the dynamic modeling is essential for the ATC. In this paper, inverse dynamic modeling of a novel ATC mechanism is introduced. The proposed ATC mechanism is composed of a double four-bar mechanism with a circular tablet to generate continuous rotation of the tablet. The dynamic modeling is performed based on the Lagrange equation with a modeling for the contact between the four-bar and the tablet. Simulation results for various working conditions are proposed and analyzed for the prototype design. The dynamic modeling can be applied to determine the proper actuator and to reduce the vibration and consumed energy for the ATC machine.

Keywords

References

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