Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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A Study on the Cooperative Kinematic Inter-operation of 2-Axis (Tilting/Rolling) Additional Axes with a 6-Axis Articulated Robot Using Simulink of MATLABⓇ and RecurdynⓇ

MATLABⓇ과 RecurdynⓇ의 Simulink를 활용한 2축 부가 축과 6축 수직 다관절로봇의 기구적 연동에 관한 연구

  • Received : 2020.11.23
  • Accepted : 2021.01.22
  • Published : 2021.04.30
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Abstract

Currently, 6-axis articulated robots are used throughout the industry because of their 6-dof (degrees of freedom) and usability. However, 6-axis articulated robots have a fixed base and their movements are limited by the rotational operating range of each axis. If the angle of the 2-axis additional axes can be adjusted according to the position and orientation of the end-effector of the 6-axis articulated robot, the effectiveness of the 6-axis articulated robot can be further increased in areas where the angle is important, such as welding. Therefore, in this paper, we proposed a cooperative kinematic inter-operation strategy. The strategy will be verified using the Simulink of MATLABⓇ, an engineering program, and RecurdynⓇ, a dynamic simulation program.

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References

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