직접구동방식 수평다관절형 로봇의 최소 싸이클 시간을 갖는 로봇팔의 단면설계

Abstract

Many algorithms to enhance a speed performance of a robot have been studied, but its rare to consider disign aspect of a robot arm for time optimal problem. In this paper, section demensions of a robot arm and a velocity profile of an end-effector were optimally designed to minimize the cycle time. Capacity of actuators, deflections of end-effector, and a fundamental natural frequency of the robot arm were constrained in optimal design. For a given path with a trapezoidal velocity profile, torques of each joint were calculated using the inverse kinematics and dynamics. For the SCARA type robot which is mainly used for assembly tasks, the time optimal design of each robot arm id presented with the above constraints.