A Study on Dynamic Stiffness Design of Frame Structure for Inspection Robot

Title
A Study on Dynamic Stiffness Design of Frame Structure for Inspection Robot
Authors
이준영임지윤김창환이택진이석임홍재
Keywords
Sub-span ocillation; 서브스판 진동; transmission line; 송전 선로
Issue Date
2013-12
Publisher
대한기계학회 2013년도 학술대회
Abstract
This paper presents to investigate dynamic stiffness of inspection robot with various frame structures through flexible multi body dynamic simulation. Transmission lines which simulated in finite element model are used to validate to experimental results. Natural frequency analysis of robot frame is conducted to compare with sub-span ocillation frequency. Multi body dynamic simulation model that is similar to the actual sub-span ocillation test environment is developed by using transmission lines and robot frame models. New 5 types robot frames with reduced the number of carbon pipes are proposed. Natural frequency analysis and multi body dynamic simulation of 5 types robot frame are conducted. The final robot frame model is confirmed that 29% of weight was reduced.
URI
http://pubs.kist.re.kr/handle/201004/47051
Appears in Collections:
KIST Publication > Conference Paper
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