A Study on Design and Durability Analysis of Vertical Multi-Jointed Robot with Translational Joint to adapt in the High Temperature Environment

고온 환경에서 적용 가능한 병진관절을 갖는 수직 다관절 로봇시스템 개발 및 내구성 분석에 관한 연구

Abstract

We Proposed a new technology to develop vertical type multi-joint robot system enable to adapt in high temperature environment. The main contents is a new approach to design a vertical type articulated robot with prismatic joint and analysis of thermal for process automation of casting and forging. The proposed robot is suitable to use handling working parts of casting and forging. for the manufacturing process of forging and casting. The reliability is illustrated that the proposed technique is more stable and robust than the conventional system. This study is concerned with an analytical methodology of kinematic computation for 7 DOF manipulators for optimization of forging manufacturing process.

Fig. 1 Kinematic analysis of robot manipulator

Fig. 2 6-Axis vertical multi-joint robot

Fig. 3 6-axis vertical articulated robot link coordinate system

Fig. 4 Shape and structure of 6-axis vertical articulated robot (3D modeling)

Fig. 5 Structure and specification of each link

Fig. 6 Structural analysis results of 6-axis vertical articulated robot

Fig. 7 Results of thermal analysis of vertical articulated robot (50^∘C)

Fig. 8 Analysis of Thermal Deformation of Vertical Multi-Joint Robot (50^∘C)

Fig. 9 Heat Resistant Robot Joint (7 axis) Integrated System 3D Modeling

Fig. 10 Structural analysis results of mobile translational joint(7 axis) transport

Fig. 11 The structure of robot gripper system

Fig. 12 Position selection of thermal stress analysis on Gripper Position PA

Fig. 13 Thermal stress analysis of point PA

Fig. 14 Structural and Thermal Stress and Deformation Analysis Points of Movable Jointed (7 Axis) Transfer Rails (8point)

Fig. 15 Thermal Stress Analysis of Transverse Joint (7-Axis) Transfer Frame

Fig. 16 Speed according to the load pattern of driving motor

Fig. 17 3D modeling of robot system

Fig. 18 The developed robot system prototype

Table 1. Materials and Properties

Table 2. Size of load

Table 3. Structural analysis result table of each link

Table 4. Materials and Properties

Table 5. Structural Analysis of Movable Joints

Table 6. Type of material

Table 7. Gripper material and characteriics

Table 8. Gripper heat durability analysis result

Table 9. Thermal stress analysis result of moving frame (7 Axis)

Table 10. Thermal Stress of Movable Joint Transfer Rails Analysis result analysis data

Table 11. Dynamic characteristics and stability analysis results of driving actuator

Table 12. The Final Actuation Requirements for the Actuator of a Movable Type Jointed Articulated Multi-Jointed Robot

Table 13. Dynamic Characteristics of Driving Actuator of Movable Joint