MANUFACTURING OF A SCARA TYPE DIRECT-DRIVE ROBOT WITH GRAPHITE FIBER EPOXY COMPOSITE-MATERIAL

被引：33

作者：

LEE, DG

KIM, KS

KWAK, YK

机构：

[1] Dept. of Production Engineering, Korea Institute of Technology

来源：

ROBOTICA | 1991年 / 9卷

关键词：

SCARA DIRECT-DRIVE ROBOT; GRAPHITE-EPOXY MATERIAL; ASSEMBLY TASK; ROBOT IMPROVEMENT;

D O I：

10.1017/S0263574700010274

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A SCARA type direct-drive robot which can be used in the assembly operation of printed circuit boards was designed and manufactured with graphite fiber epoxy composite material. The optimum stacking angle of the graphite fiber which gives the minimum deflection of the composite robot arm was calculated by the energy method and the manufacturing method of the box-type cross section of the robot arm with composite materials was developed. In order to compare the dynamic characteristics of the composite material robot arm with a conventional material robot arm, an aluminum robot arm which has the same dimensions and thickness of the composite robot arm was manufactured. The static and dynamic characteristics of the composite material robot arm such as static deflection, natural frequency and damping as well as weight saving were considerably improved compared to those of the aluminum robot arm.

引用

页码：219 / 229

页数：11

共 15 条

[1]

Koren Y., Robotics for Engineers

[2]

Nihei R., Direct Drive Robot and Its Control by Digital Servo, Proceedings of the 20th International Symposium of Industrial Robot, 107, pp. 5-1082, (1989)

[3]

Reinhart T.J., Engineering Materials Handbook Vol. 1, Composites

[4]

Crawley E.F., Mohr D.G., Experimental Measurements of Material Damping in Free Fall with Tuneable Excitation, AIAA/ASME/ASCE/AHS Conference Paper, pp. 83-0858, (1983)

[5]

Asada H., Youcef-Tourni K., Direct-Drive Robots

[6]

Koenigsberger F., Design Principles of Metal-Cutting Machine Tools (Macmillan

[7]

Chou P.C., Carelone J., Transverse Shear in Laminated Plate Theories, AIAA Journal, 11, 9, pp. 1333-1336, (1973)

[8]

Crandall S.H., Dahl N.C., Lardner T.J., An Introduction to the Mechanics of Solids, pp. 438-440

[9]

Bearings Catalog, pp. 3-12

[10]

Wardle F.P., Lacey S.J., Poon S.Y., Dynamic and Static Characteristics of a Wide Speed Range Machine Tool Spindle, Precision Engineering, 17, pp. 5-183, (1983)

← 1 2 →