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- 저자 : Yeon Joo Ahn(안연주) (검색결과 1 건)
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Optimal Wrist Design of Wrist-hollow Type 6-axis Articulated Robot using Genetic Algorithm
Hyeon Min Jo(조현민),Won Jee Chung(정원지),Seung Min Bae(배승민),Jong Kap Choi(최종갑),Dae Young Kim(김대영),Yeon Joo Ahn(안연주),Hee Sung Ahn(안희성) 한국기계가공학회 2019 한국기계가공학회지 Vol.18 No.1
In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on SolidWorks<SUP>®</SUP> for robot modeling, MATLAB<SUP>®</SUP> for GA optimization, and RecurDyn<SUP>®</SUP> for analyzing dynamic characteristics of a robot. Especially RecurDyn<SUP>®</SUP> is incorporated in the GA module of MATLAB<SUP>®</SUP> for the optimization process. The results of the simulations will be verified by using RecurDyn<SUP>®</SUP> to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.
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