가공용 위치 보상 2축 스테이지 최적설계

Recent, manufacturing industry has demand that a robot milling system with higher DOF than CNC milling due to an increase in demand for processing complex and flexible shapes. However, a disadvantage of low surface quality exists owing to vibrations caused by the low rigidity of the robot. The main reason for the low surface quality of a target workpiece is the resonant frequency of the robot occurring below 200 Hz . To overcome this problem, we developed a 2-DOF position compensation stage that has high dynamics. In this study, the stage of parallel kinematics using an L-shaped flexible hinge was presented and optimized for rigidity higher than that of the serial kinematics structure. The optimally designed stage through the crab-leg structure was designed with high stiffness with a moving range of 26.1 μm and natural frequency of 513.54 Hz.