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

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Selecting Main Parts of a Four-Axis Palletizing Robot Through Dynamic Analysis of Rigid-Flexible Multibody Systems

유연 다물체 동역학 해석을 이용한 4축 이적재 로봇의 주요 부품 선정

  • Park, Il-Hwan (School of Mechanical Engineering, Changwon national UNIV.) ;
  • Go, A-Ra (School of Mechanical Engineering, Changwon national UNIV.) ;
  • Seol, Sang-Seok (School of Mechanical Engineering, Changwon national UNIV.) ;
  • Hong, Dae-Sun (School of Mechanical Engineering, Changwon national UNIV.)
  • Received : 2021.11.12
  • Accepted : 2021.12.19
  • Published : 2022.02.28
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Abstract

Among the various industrial robots, palletizing robots have received particular attention because of their higher productivity in accordance with technological progress. When designing a palletizing robot, the main components, such as the servo motors and reducers, should be properly selected to ensure its performance. In this study, a practical method for selecting the motors and reducers of a robot was proposed by performing the dynamic analysis of rigid-flexible multibody systems using ANSYS and ADAMS. In the first step, the links and frames were selected based on the structural analysis results obtained from ANSYS. Subsequently, a modal neutral file (MNF) with information on the flexible body was generated from the links and frames using modal analysis through ANSYS and APDL commands. Through a dynamic analysis of the flexible bodies, the specifications of the major components were finally determined by considering the required torque and power. To verify the effectiveness of the proposed method, the analysis results were compared with those of a rigid-body model. The comparison showed that rigid-flexible multibody dynamic analysis is much more useful than rigid body analysis, particularly for movements heavily influenced by gravity.

Keywords

Acknowledgement

이 논문은 2021~2022년도 창원대학교 자율연구과제 연구비 지원으로 수행된 연구 결과임.

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