In this paper, optimal design of the second arm in a SCARA robot was studied. The mass and moment of inertia of the second arm of a SCARA robot have great effects on performance indices such as cycle times and torques of the first and second axes. To reduce the mass and moment of inertia, optimal design was carried out by FEM analysis using parameters such as width and height of the arm rib, which was newly adopted to decrease the arm thickness in keeping stiffness. Computer simulation was conducted in X and Y directional paths. As a result of the optimal design, maximum torques of the first and second axes decreased by 10.1% in maximum.

Abstract
 1. 서 론
 2. 모델링 및 동역학적 해석
  2.1. 모델링
  2.2 운동방정식
  2.3 부품 사양
 3. FEM 해석 및 최적화
  3.1 모델링
  3.2 해석 및 최적화 설계
 4. 컴퓨터를 이용한 모의실험
  4.1 시뮬레이션
  4.2 결과 분석
 5. 결 론
 참 고 문 헌

• 이종신(주성대학 컴퓨터응용기계과) | J. S. LEE