Designing of heavy duty handling robot (HEDURI-I robot design)

摘要

Currently, one of the expanded applications of robot system is a heavy duty handling of huge and heavy parts.. In this paper, we introduce the design process of heavy duty industrial robot especially on the analysis technology that we adopted to build the native model of KIMM. In design process of articulated robot, with the payload over 300Kgf or more, it requires static and dynamic analysis for manipulator that enables the selection of core components such as motor and decelerator. For these purpose, we used the self developed S/W ‘RODAN’ that is specialized for inverse dynamics analysis. Using the ‘RODAN’, we successfully developed the HEDURI-I, the native model of heavy duty handling robot with 600kgf payload in Korea.