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모준우(Joon Woo Mo),이태우(Tae Woo Lee),홍도관(Do Kwan Hong),우병철(Byung Chul Woo) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
For collaborative robot working in human environment, the most important and critical part is an actuator in each joint. Hollow type actuator consists of motor, reducer, controller, encoder, and brake. It is applied to the vertical multi joint robot and besides those are all in one. In this paper, the performance of UR10 model is investigated by reverse engineering. The improved model of SPMSM is suggested by using the pole-slot combination. In the conclusion, the performance maps of efficiency and output power are presented so as to estimate the analytic performance.
이태우(Tae woo Lee),모준우(Joon Woo Mo),홍도관(Do Kwan Hong),우병철(Byung Chul Woo) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
At the beginning of a Fourth Industrial Revolution, the robotics is more important among the other technologies. The robots which have high performances including high speed, high power at low speed with in a small-occupied volume are required in various fields. These criteria aimed to increase the performance of four-legged robots. In this paper, the high speed and power actuator is proposed because the actuator of robotic system determines its performance. To design the high speed and power actuator, the design variables are selected through the mechanical and electrical elements. Based on the design variables, the optimization model of actuator is presented through performance analysis.
이태우(Tae Woo Lee),모준우(Joon Woo Mo),홍도관(Do Kwan Hong),우병철(Byung Chul Woo) 대한기계학회 2018 大韓機械學會論文集A Vol.42 No.7
4차산업혁명이 시작되면서 다른 분야의 기술들보다도 로봇공학의 중요성이 커져가고 있다. 뿐만 아니라, 제한된 공간에서 특정한 업무를 반복 수행하던 로봇이 활동범위가 넓어지면서 2족, 4족 또는 다족 로봇이 등장하고 있다. 이러한 로봇에 들어가는 액추에이터는 소형이면서 고속과 저속에서 고출력 특성을 필요로 한다. 본 논문에서는 고속, 고출력 로봇용 액추에이터를 설계하기 위해 전기적인 요소를 설계변수로 설정하였고, 전동기가 구동가능한 전압 마진을 가지는 영역 내에서 설계변수를 조정하며 최적화 모델을 제시하였다. At the beginning of what is considered the Fourth Industrial Revolution, the paramount technological field is that of robotics. Various fields require robots that perform at high speed, or with high power at low speed so as to work in small-volume areas, as improvements in these criteria will increase the performance of four-legged robots. The actuator of a robotic system determines its performance; therefore, in this paper, a high speed and power actuator is proposed. Electrical elements are selected as the design variables to achieve the desired performance improvements. In addition, these variables are adjusted within a feasible area for voltage margin. Based on the design variables, an optimized actuator model is presented, and its performance is analyzed.