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

  • 제21권2호
  • /
  • Pages.116-122
  • /
  • 2022
  • /
  • 1598-6721(pISSN)
  • /
  • 2288-0771(eISSN)
한국기계가공학회 (The Korean Society of Manufacturing Process Engineers)
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고속 확장된 작업공간을 가진 병렬 로봇을 위한 경량 3-DOF 손목 메커니즘의 ANSYS 기반 응력해석

ANSYS®-Based Gear Stress Analysis of a Lightweight 3-DOF Wrist Mechanism for a Parallel Robot with Expanded Workspace

  • 투고 : 2021.11.15
  • 심사 : 2021.12.28
  • 발행 : 2022.02.28
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초록

This study proposed a method of testing the stability when selecting gears to reduce the weight of a 3-DOF wrist mechanism for a pick-and-place 3-DOF parallel robot with an increased workspace by using an additional straight axis at its top. We performed SolidWorks® modeling- and ANSYS®-based structural analysis of a pinion gear, which is most vulnerable to the force from a 3-DOF wrist mechanism, to lighten the robot weight for performing various tasks. When the initial analysis results considerably differed from the theoretical values calculated in advance, we checked and identified the errors in the contact conditions or input values. Ultimately, it is believed that the methodology presented in this paper will help in mitigating errors during analysis and determine the accurate values for a lightweight 3-DOF wrist mechanism for a parallel robot with an expanded workspace.

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과제정보

이 논문은 2019년도 제20004636호, 작업공간 확장 구현을 위한 부가 직선축을 가진 보급형 병렬로봇시스템 개발 연구비 지원에 의하여 연구되었음.

참고문헌

  1. Kim, H. S., "Analysis and Design of a Novel 4-DOF High-Speed Parallel Robot" Journal of The Korean Society of Industry Convergence, Vol. 19, No. 4, pp. 206-215, 2016. https://doi.org/10.21289/KSIC.2016.19.4.206
  2. Richard, G., Budynas, J., Keith, N., Mechanical Design 9th Edition(Shigley's MECHANICAL ENGINEERING DESIGN), pp. 573~682, 2013.
  3. Jeong, K. M., Hong, W. C., Kim, H. S., Kim, H. H., "Design of Low Cost Parallel Robot System with Additional Linear Axis for Extended Workspace", Journal of the 2019 Autumn Conference of the Korean Society of Precision Engineers, pp. 158, 2019.
  4. Lee, Y. S., Jang, B. E., Kim, Y. J., Chung, S. O., Choi, Y. S., "Stress and fatigue analysis of the power transmission sprocket gears for design of a small-sized Chinese cabbage harvester", the Spring and Autumn Conference of the Korean Society of Machinery, pp. 87-91, 2018.
  5. Moon, S. P., Han, T. H., Choi, C. H., Kim, Y. J., "Strength Analysis of Helical Gear Reducer Through KISSsoft," Journal of Mechanical Society for Pneumatic Construction, pp. 210-211, 2019.
  6. Lee, J. G., Han, S. G., Kim, S. H., "The Structural analysis of Reduction Gear for Electric Vehicle," Journal of The Korean Society of Automotive Engineers, pp. 163-163, 2018.