2축 부가 축을 이용한 6축 수직 다관절로봇의 용접공정 효율 증대를 위한 연구 (Implementation of a 2-axis Additional Axes Strategy on a 6-axis Articulated Robot for Improving Welding Process Efficiency)

서지정보

· 발행기관 : 한국기계가공학회
· 수록지 정보 : 한국기계가공학회지 / 16권 / 6호 / 55 ~ 62페이지
· 저자명 : 홍준락, 조현민, 정원지, 박승규, 노성훈

초록

This paper aims to realize additional axes, which increase the processing efficiency of a robot by controlling in harmful environments. Ultimately, this is to create time and energy savings in industrial sites with 6-axis articulated welding robots (RS2). Using RecurDynⓇ, a simulation technique is applied. The motion paths of the welding rod are compared for two cases in order to verify the necessity of the additional axes: 1) when there are no additional axes and 2) when there are additional axes during welding using the RS2. For this purpose, the angle variations of the RS2 axes required for the simulation are compared, on the assumption that each of the four points of the welding bed installed on the additional axes of the welding rod in SolidworksⓇ is point-welded. Then, actual additional axes equipment is grafted on to the RS2 and the process times compared using LabVIEWⓇ.

영어초록

This paper aims to realize additional axes, which increase the processing efficiency of a robot by controlling in harmful environments. Ultimately, this is to create time and energy savings in industrial sites with 6-axis articulated welding robots (RS2). Using RecurDynⓇ, a simulation technique is applied. The motion paths of the welding rod are compared for two cases in order to verify the necessity of the additional axes: 1) when there are no additional axes and 2) when there are additional axes during welding using the RS2. For this purpose, the angle variations of the RS2 axes required for the simulation are compared, on the assumption that each of the four points of the welding bed installed on the additional axes of the welding rod in SolidworksⓇ is point-welded. Then, actual additional axes equipment is grafted on to the RS2 and the process times compared using LabVIEWⓇ.

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