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고속 확장된 작업공간을 가진 병렬 로봇을 위한 경량 3-DOF 손목 메커니즘의 ANSYS 기반 응력해석
박상혁(Sang Hyeok Park),정원지(Won Jee Chung),황희건(Hui Geon Hwang),김홍록(Hong Rok Kim),최세웅(Se Woong Choi),지명준(Myeong Jun Jee),홍우철(Woo Cheol Hong) 한국기계가공학회 2022 한국기계가공학회지 Vol.21 No.2
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<SUP>Ⓡ</SUP> modeling- and ANSYS<SUP>Ⓡ</SUP>-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.