Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Development of Industrial High-Speed Transfer Parallel Robot

산업용 고속 이송 병렬 로봇 개발

  • Kim, Byung In (Dept. of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Kyung, Jin Ho (Dept. of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Do, Hyun Min (Dept. of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Jo, Sang Hyun (Dept. of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
  • 김병인 (한국기계연구원 로봇메카트로닉스 연구실) ;
  • 경진호 (한국기계연구원 로봇메카트로닉스 연구실) ;
  • 도현민 (한국기계연구원 로봇메카트로닉스 연구실) ;
  • 조상현 (한국기계연구원 로봇메카트로닉스 연구실)
  • Received : 2013.02.06
  • Accepted : 2013.07.02
  • Published : 2013.08.01
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Abstract

Parallel robots used in industry require high stiffness or high speed because of their structural characteristics. Nowadays, the importance of rapid transportation has increased in the distribution industry. In this light, an industrial parallel robot has been developed for high-speed transfer. The developed parallel robot can handle a maximum payload of 3 kg. For a payload of 0.1 kg, the trajectory cycle time is 0.3 s (come and go), and the maximum velocity is 4.5 m/s (pick amp, place work, adept cycle). In this motion, its maximum acceleration is very high and reaches approximately 13g. In this paper, the design, analysis, and performance test results of the developed parallel robot system are introduced.

병렬로봇은 구조적 특성 때문에 정밀성 및 고강성이 요구되는 분야와 고속성이 요구되는 분야에서 주로 적용되고 있다. 물류 분야에서 고속이송의 중요성은 날이 갈수록 증가하고 있으며, 본 연구에서도 동일한 목적으로 고속 이송에 적용될 병렬로봇이 개발되었다. 개발된 로봇은 최대 3kg의 부하를 이송할 수 있으며 0.1kg의 부하조건에서의 최대 운전 조건은 싸이클 타임 0.3sec로 최대 속도 약 4.5m/sec로 운전할 수 있으며(Pick & Place 작업, Adept cycle) 이때 최대 가속도는 약 13G에 달한다. 본 논문에서는 개발된 고속 병렬로봇의 설계 및 해석에 관한 연구결과와 개발된 로봇의 성능에 관해 소개하고자 한다.

Keywords

References

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Cited by

  1. Optimization of the Operating Stiffness of a Two-Axis Parallel Robot vol.39, pp.6, 2015, https://doi.org/10.3795/KSME-A.2015.39.6.561