Optimal Wrist Design of Wrist-hollow Type 6-axis Articulated Robot using Genetic Algorithm

Hyeon Min Jo; Won Jee Chung; Seung Min Bae; Jong Kap Choi; Dae Young Kim; Yeon Joo Ahn; Hee Sung Ahn

추천

검색

질문

자료유형: 학술저널

저자정보: Hyeon Min Jo (Changwon national UNIV.) Won Jee Chung (Changwon national UNIV.) Seung Min Bae (Changwon national UNIV.) Jong Kap Choi (Changwon national UNIV.) Dae Young Kim (Changwon national UNIV.) Yeon Joo Ahn (Robot Valley) Hee Sung Ahn (OTO Robotics)

저널정보: 한국기계가공학회 한국기계가공학회지 한국기계가공학회지 제18권 제1호

발행연도: 2019.1

수록면: 109 - 115 (7page)

이용수

📌

연구주제

📖

연구배경

🔬

연구방법

🏆

연구결과

초록· 키워드

오류제보하기

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® for robot modeling, MATLAB® for GA optimization, and RecurDyn® for analyzing dynamic characteristics of a robot. Especially RecurDyn® is incorporated in the GA module of MATLAB® for the optimization process. The results of the simulations will be verified by using RecurDyn® 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.

#Wrist-hollow Type(중공형) #Arc Welding(아크 용접) #6-axis Articulated Robot(6축 수직다관절 로봇) #Genetic Algorithm(유전자 알고리즘) #RecurDyn< #SUP> #®< #/SUP>

참고문헌 (9)

참고문헌 신청

Iqbal, J. / 2016 / Automating Industrial Tasks Through Mechatronic Systems–A Review of Robotics In Industrial Perspective / Hrčak 23(3):917~924

Wang, Y. S. / 2011 / Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn / ICMA PROCEEDINGS

Seibold, U. / 2005 / Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability / ICMA PROCEEDINGS :496~501

Spong, M. W. / 1989 / Robot Dynamics and Control / John Wiley and Sons Inc

Jeon, Y. J. / 2017 / Selection of Major Components of a Four-Axis Transfer Robot through Dynamic Analysis / ICMA PROCEEDINGS :590~595

함께 읽어보면 좋을 논문

논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!

이 논문의 저자 정보

조현민

소속기관 한국기계연구원

주요연구분야 공학 > 기계공학 > 기계공학 일반 TOP 5% 사회과학 > 지리학 > 지리학 일반

논문수 64 이용수 4,517

정원지

소속기관 한국전력공사

주요연구분야 공학 > 기계공학 > 기계공학 일반 TOP 1% 공학 > 전기전자공학 > 전기공학

논문수 364 이용수 25,631

배승민

소속기관 창원대학교