Optimization of the Operating Stiffness of a Two-Axis Parallel Robot

2축 병렬로봇의 작동강성 최적설계

  • 이재욱 (한국생산기술연구원, 대경지역본부) ;
  • 장진석 (한국생산기술연구원, 대경지역본부) ;
  • 이상곤 (한국생산기술연구원, 대경지역본부) ;
  • 정명식 (한국생산기술연구원, 대경지역본부) ;
  • 조용재 (한국생산기술연구원, 대경지역본부) ;
  • 김건우 (한국생산기술연구원, 대경지역본부) ;
  • 유완석 (부산대학교 기계공학부)
  • Received : 2014.11.17
  • Accepted : 2015.04.15
  • Published : 2015.06.01


In this paper, the operating stiffness of a parallel robot used to handle heavy packages is optimized. Because the studied model, called a "pick and place robot," is applied for packaging logistics, it is important for the robot to be lightweight so that it may respond rapidly and have high stiffness to allow sufficient operating precision. However, these two requirements of low weight and high stiffness are mutually exclusive. Thus, the dynamic characteristics of the robot are analyzed through multibody dynamics analysis, and topology optimization is conducted to achieve this exclusive performance. Lastly, the reliability of the topology optimization is verified by applying the optimized design to the parallel robot.


High Stiffness Design;Multi-body dynamics;Operating Stiffness Optimization;Parallel Robot;Topology Optimization;Weight Reduction Design


Supported by : 한국생산기술연구원


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