고속 병렬 로봇의 설계에 관한 연구

다국어 초록 (Multilingual Abstract)

These days, the interest of high speed robotic system is increasing because it is very important to get the cost-competitiveness. The parallel kinematic mechanism is more useful than the serial kinematic mechanism. For the reason, the researches on the parallel robot system as a high speed robotic one are have been done by many researchers. In this paper, the research on the design and analysis of the high speed parallel robot has been done by the authors. First, Basic robot structure is designed and modal analysis is studied to get the basic characteristics of the vibrational motion. Second, the harmonic analysis is studied to get the information of the natural frequency in some different designs of the outer-arm of the parallel robot. Finally, actual robot system is designed and implemented and it is confirmed that the analysis results coincide with the experimental results.

참고문헌 (Reference)

1 Bongsoo Kang, "Study on PiezoelectricActuators in Vibration Control of a Planar ParallelManipulator" 2 : 1268-1272, 2003

2 Pierrot, F., "Optimal Design of a 4-DOF ParallelManipulator : From Academia to Industry" 25 (25): 2009

3 Jeong, J. I., "Kinematic Calibration for Redundantly ActuatedParallel Mechanisms" 126 (126): 307-318, 2004

4 Ryu, S. J., "Joint Torque Distribution of RedundantlyActuated Parallel Mechanism" SeoulNational Univ 2001

5 From, P. J., "Fault Tolerance ofParallel Manipulators with Passive Joints" 1240-1245, 2009

6 Luecke, G. R., "ExperimentalResults for Force Distribution in CooperatingManipulator Systems Using Local Joint Control" 13 (13): 471-480, 1990

7 ANSYS Inc, "Element Reference Manual"

8 Cha, Y., "Development Status of a ParallelMechanism" 15 (15): 22-28, 2009

9 Li, Y., "Are Parallel ManipulatorsMore Energy Efficient?" 41-46, 2001