한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제30권10호
  • /
  • Pages.1069-1077
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  • 2013
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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고속 병렬 로봇의 설계에 관한 연구

A Study on the Design of High-speed Parallel Robot

  • 투고 : 2013.02.06
  • 심사 : 2013.09.16
  • 발행 : 2013.10.01
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초록

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.

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참고문헌

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