직선 조정관 재현로봇의 기구학 해석 및 시뮬레이션

Abstract

In this study, kinematic analysis and simulation of a linear-adjustment pipe-reproduction robot were performed. A straight adjustment pipe used in ships consists of two flanges and a straight pipe that connects the pipes of the ship at a precise angle. A robot that accurately reproduces a straight adjustment pipe is referred to as a reproduction robot. To accurately control a reproduction robot, the moving distance and rotation angle of the robot must be calculated accurately. For this purpose, the kinematics of a linear adjustment pipe reproduction robot were analyzed, and a simulation program was created based on the analysis results. The simulation results confirmed that the adjustment pipe on the drawing can be accurately reproduced using a reproduction robot. Therefore, the kinematic analysis and simulation results of the linear adjustment pipe reproduction robot performed in this study can be used to operate the reproduction robot.