2축 병렬로봇의 작동강성 최적설계

In this paper, a Parallel robot which has a 20~30[kg] payloads for handling heavy weight packages is designed. Because the studied model is used for packaging logistics, so-called, ‘Pick and Place Robot’, it is important of the weight reduction design for fast response velocity and high stiffness design for operating precision. But, these two requirements, weight reduction and high stiffness, are mutually exclusive. So, first of all, the dynamics characteristics of the robot are analyzed through the multi-body dynamics analysis and secondly, the topology optimization for achieving both the weight reduction and high stiffness is conducted. Lastly, the optimized arm is applied at the parallel robot and reliability of the topology optimization is verified.