Development and Static Analysis of a Cartesian Robot with Open Screw

초록

A new Cartesian robot has been developed that can drastically increase the movement speed and travel length while maintaining high load and precision using an open screw and slider combination instead of a ball screw and closed ball nut combination, and a guide bearing and guide shaft combination instead of a linear motion guide. Static and finite element analyses, as well as empirical tests, were conducted to verify the mechanical validity and safety of the developed robot. A Matlab program, which can easily calculate the moment load required for analysis, resolve the statical indeterminacy problem encountered owing to the solution of equilibrium equations, and determine the reactive forces of the guide bearings and brake roller, was developed and applied for the analysis of various robot combinations. The results were inputted into the finite element analysis to verify the safety of the product by predicting the displacements and stresses of its parts when a sudden stop occurs during operation.

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