뿜칠 로봇 프레임 경량화 및 강성 확보를 위한 구조해석

Abstract

In the development of a spray robot, structural deformation occurred when the robot was mounted on an aerial lift platform. Despite applying only moderate load during attachment, the original frame showed permanent deformation, leading to sensor misalignments such as errors in the zero-point calibration of cameras and laser pointers. To address this issue, finite element method(FEM) simulations were conducted with the objective of improving stiffness while reducing the weight of the robot frame. The analysis was carried out using beam elements in ANSYS SpaceClaim, where sectional properties such as cross-sectional area and moment of inertia were automatically calculated to ensure accurate stiffness evaluation. This approach significantly reduced meshing time while maintaining high accuracy. Through iterative simulations and design optimization, the improved frame design demonstrated enhanced stiffness and weight reduction. Experimental validation confirmed that the optimized frame prevented permanent deformation under operating conditions and eliminated sensor alignment errors during robot operation. This study shows that FEM-based structural optimization, especially with beam element modeling, is an effective and efficient method for ensuring both lightweight and stiffness in robotic systems for construction applications.