자동물체도를 이용한 로봇 동력학 해석 = Robot Dynamic Analysis using Free-body-diagram

다국어 초록 (Multilingual Abstract)

Dynamic analysis is important in structural design of SCARA or articulated type industrial robots and is' usually done to main three axes. In this paper, robot arm dynamics was analyzed using FBD(free body diagram). Though the proposed scheme becomes complex as DOF(degree of freedom)increases, it allows to see types and directions of forces and moments acting on the body. Therefore, the strength analysis of robot arm can be done relatively easy in a case of either closed or open loop chain. This method can be used for obtaining dynamic simulation at off-line programming system and calculating required torques at joints at on-line system.