산업용 로봇 손목의 동력 전달계에 대한 동특성 해석

Abstract

Dynamic charactcristics of a wrist power transmission of an industrial robot are sludied. The wrist power transmission has complex structure characteristics. because it is composed wilh several shafts and gear system. We used an anal Ytical method to investigate the dynamic characteristics. An analytical m∞el is a rigid model which is composed with masses and springs Both bearing and gear contact model represent equivalent stiffness springs which are delennined by the experiment. In order to investigate the dynamic tendency of the robot wrist power transmission we simulate the analytical model. There is a dynamic analysis tool which is called the RecurDyn. To verify the analytic results. we experiment a signal analysis which is an overall noise level of the robot. By the parametric study of the element of the robot. we study an improvement method of dynamic characteristics