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CNC 선반용 4축 전용로봇의 모델링 및 시뮬레이션

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dc.contributor.author김한솔-
dc.contributor.author김갑순-
dc.date.accessioned2022-12-26T11:00:39Z-
dc.date.available2022-12-26T11:00:39Z-
dc.date.issued2021-
dc.identifier.issn1598-6721-
dc.identifier.issn2288-0771-
dc.identifier.urihttps://scholarworks.gnu.ac.kr/handle/sw.gnu/4459-
dc.description.abstractThis paper describes the modeling and simulation of a four-axis dedicated robot that can attach and detach a workpiece on a computer numerical control (CNC) lathe. The robot was modeled as a Scarab robot for compatibility with CNC lathes. The advantages of such a robot are that an actuator with a small capacity can be used for the robot and the degrees of freedom of the robot can be reduced to four. For the simulation of the four-axis dedicated robot, a regular kinematic equation and an inverse kinematic equation were derived. Simulations were performed with these equations from the position of the loading device to the chuck position of the lathe before machining and from the chuck of the lathe to the position of the loading device after machining. The simulation results showed that the four-axis dedicated robot could be operated accurately, and they provided the joint angle of each motor (θ1, θ2, and θ3).-
dc.format.extent8-
dc.language한국어-
dc.language.isoKOR-
dc.publisher한국기계가공학회-
dc.titleCNC 선반용 4축 전용로봇의 모델링 및 시뮬레이션-
dc.title.alternativeModeling and Simulation of 4-Axis Dedicated Robot for CNC Lathe-
dc.typeArticle-
dc.publisher.location대한민국-
dc.identifier.doi10.14775/ksmpe.2021.20.04.049-
dc.identifier.bibliographicCitation한국기계가공학회지, v.20, no.4, pp 49 - 56-
dc.citation.title한국기계가공학회지-
dc.citation.volume20-
dc.citation.number4-
dc.citation.startPage49-
dc.citation.endPage56-
dc.identifier.kciidART002708199-
dc.description.isOpenAccessY-
dc.description.journalRegisteredClasskci-
dc.subject.keywordAuthor4축 전용로봇-
dc.subject.keywordAuthor시뮬레이션-
dc.subject.keywordAuthorCNC 선반-
dc.subject.keywordAuthor관절각-
dc.subject.keywordAuthor링크-
dc.subject.keywordAuthor4-axis Dedicated Robot-
dc.subject.keywordAuthorSimulation-
dc.subject.keywordAuthorCNC Lathe-
dc.subject.keywordAuthorJoint Angle-
dc.subject.keywordAuthorLink-
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