산업용 로봇 손목의 동력 전달계에 대한 동특성 해석

Abstract

Dynamic characteristics of a wrist power transmission examine closely with mass property, to present a model which is able to induce the vibration is ultimately the purpose. A robot wrist power transmission for analysis model gets the mass property through the approach to be the experimental. A bearing equivalent stiffness which supports the axis and a gear contact equivalent stiffness are determined by the simplicity analysis model compared the result of the experiment. We calculate the vibration tendency of the robot wrist power transmission by an analysis tool which is called the RecurDyn. We compared it with a signal analysis experiment`s which a robot operation happens which is based on the ambient noise.