{"id":240,"date":"2026-06-12T08:10:03","date_gmt":"2026-06-12T08:10:03","guid":{"rendered":"https:\/\/planetary-gearboxes.cn\/?p=240"},"modified":"2026-06-12T08:10:03","modified_gmt":"2026-06-12T08:10:03","slug":"planetary-gearbox-for-scara-robots-joint-by-joint-selection-guide","status":"publish","type":"post","link":"https:\/\/planetary-gearboxes.cn\/ko\/planetary-gearbox-for-scara-robots-joint-by-joint-selection-guide\/","title":{"rendered":"SCARA \ub85c\ubd07\uc6a9 \uc720\uc131 \uae30\uc5b4\ubc15\uc2a4 - \uad00\uc808\ubcc4 \uc120\ud0dd \uac00\uc774\ub4dc"},"content":{"rendered":"
\n
\n
\n
>40%<\/div>\n
\uc804 \uc138\uacc4\uc5d0\uc11c \ucd9c\ud558\ub41c \ubaa8\ub4e0 \ub85c\ubd07 \uc911<\/div>\n<\/div>\n
\n
J1\u2013J4<\/div>\n
\ub124 \uac00\uc9c0 \ubcc4\uac1c\uc758 \ucd95 \uc694\uad6c\uc0ac\ud56d<\/div>\n<\/div>\n
\n
\ud53c0<\/div>\n
J1\/J2 \ub4f1\uae09 \u2014 TCP <0.05mm<\/div>\n<\/div>\n
\n
EP-FADS<\/div>\n
J3\/J4 \ucef4\ud329\ud2b8 \uc9c1\uc811 \uc0bd\uc785\ud615<\/div>\n<\/div>\n
\n
S5<\/div>\n
\uc791\uc5c5 \uc8fc\uae30 \u2014 \ud53d\uc564\ud50c\ub808\uc774\uc2a4<\/div>\n<\/div>\n
\n
0.030mm<\/div>\n
300mm \ubc18\uacbd\uc5d0\uc11c TCP \uc624\ub958 \ubc1c\uc0dd, P0<\/div>\n<\/div>\n<\/div>\n<\/div>\n

<\/p>\n

\n
\n

\uc9c0\uc6d0 \uc548\ub0b4\uc11c<\/span><\/p>\n

SCARA \ub85c\ubd07\uc758 \uae30\uc5b4\ubc15\uc2a4 \uc120\ud0dd\uc774 6\ucd95 \ub85c\ubd07\uacfc \ub2e4\ub978 \uc774\uc720, \uadf8\ub9ac\uace0 \uc798\ubabb\ub41c \uae30\uc5b4\ubc15\uc2a4 \uc120\ud0dd\uc774 \uc870\ub9bd \uc815\ud655\ub3c4 \ubb38\uc81c\uc758 \uc8fc\uc694 \uc6d0\uc778\uc778 \uc774\uc720<\/h2>\n
\n
\"EP-FADS<\/p>\n

EP-FADS \uc2dc\ub9ac\uc988 \uc9c1\uc811 \uc0bd\uc785\ud615 \uae30\uc5b4\ubc15\uc2a4\ub294 SCARA J3(Z\ucd95 \uc2a4\ud2b8\ub85c\ud06c \ubcfc\uc2a4\ud06c\ub958 \uad6c\ub3d9) \ubc0f J4(\uacf5\uad6c \ud68c\uc804)\uc5d0 \uac00\uc7a5 \uc801\ud569\ud55c \uc120\ud0dd\uc785\ub2c8\ub2e4. \uc9c1\uc811 \uc0bd\uc785\ud615 \uc124\uacc4\ub85c \uc5b4\ub311\ud130 \ub9c1\uc774 \uc788\ub294 EP-FAD\uc5d0 \ube44\ud574 \ucd95 \ubc29\ud5a5 \uae38\uc774\uac00 22mm \ub2e8\ucd95\ub418\uc5c8\uc73c\uba70, \uc774\ub294 J3 \ubc0f J4\uac00 \ub85c\ubd07 \uc190\ubaa9 \ud558\uc6b0\uc9d5 \ub0b4\ubd80\uc5d0 \uc7a5\ucc29\ub418\uc5b4\uc57c \ud558\ub294 \uc18c\ud615 SCARA \ud5e4\ub4dc \uc5b4\uc148\ube14\ub9ac\uc5d0 \ub9e4\uc6b0 \uc911\uc694\ud569\ub2c8\ub2e4.<\/p>\n<\/div>\n

SCARA \ub85c\ubd07(\uc120\ud0dd\uc801 \ucef4\ud50c\ub77c\uc774\uc5b8\uc2a4 \uc870\ub9bd \ub85c\ubd07 \ud314)\uc740 \uc804 \uc138\uacc4 \ub85c\ubd07 \ucd9c\ud558\ub7c9\uc758 40% \uc774\uc0c1\uc744 \ucc28\uc9c0\ud569\ub2c8\ub2e4. \uc218\ud3c9 \ud68c\uc804 \uc554 \uad6c\uc870 \ub355\ubd84\uc5d0 \uace0\uc18d \ud53d\uc564\ud50c\ub808\uc774\uc2a4, \uc804\uc790 \ubd80\ud488 \uc870\ub9bd, \uc758\uc57d\ud488 \uc870\uc81c, \uc815\ubc00 \ubd80\ud488 \uc0bd\uc785 \ub4f1 \uc0ac\uc774\ud074 \ud0c0\uc784\uacfc TCP(\ud234 \uc13c\ud130 \ud3ec\uc778\ud2b8) \uc815\ud655\ub3c4\ub97c \ubaa8\ub450 \uadf9\ub300\ud654\ud574\uc57c \ud558\ub294 \uc791\uc5c5\uc5d0 \uac00\uc7a5 \uc801\ud569\ud55c \uae30\uc220\uc785\ub2c8\ub2e4. \uc774\ub7ec\ud55c \uc9c0\ubc30\uc801\uc778 \uc704\uce58\uc5d0\ub3c4 \ubd88\uad6c\ud558\uace0, SCARA \ub85c\ubd07 \uad00\uc808\uc758 \uae30\uc5b4\ubc15\uc2a4 \uc120\uc815 \ubc29\uc2dd\uc740 \ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc\uc758 \uc0b0\uc5c5\uc6a9 \ub85c\ubd07 \uac00\uc774\ub4dc\uc5d0\uc11c \ub2e4\ub8e8\ub294 6\ucd95 \ub85c\ubd07 \ubc29\uc2dd\uacfc \uc0c1\ub2f9\ud788 \ub2e4\ub985\ub2c8\ub2e4. \uc774 \ub450 \ubc29\uc2dd\uc744 \ud63c\ub3d9\ud558\ub294 \uac83\uc774 J2\/J4 \ubd80\uc704\uc758 \uacfc\ub3c4\ud55c \uc0ac\uc591 \uc120\ud0dd(\uc608\uc0b0 \ub0ad\ube44)\uacfc J1 \ubd80\uc704\uc758 \uc0ac\uc591 \ubd80\uc871(\ud314\uc744 \uc644\uc804\ud788 \ud3bc\ucce4\uc744 \ub54c TCP \uc815\ud655\ub3c4 \ubb38\uc81c \ubc1c\uc0dd)\uc758 \uac00\uc7a5 \ud754\ud55c \uc6d0\uc778\uc785\ub2c8\ub2e4. \uc804 \uc138\uacc4 SCARA \ub85c\ubd07 \uc2dc\uc7a5\uc740 \ub9e4\uc6b0 \ub2e4\uc591\ud55c \uc131\ub2a5 \ub4f1\uae09\uc744 \uc544\uc6b0\ub985\ub2c8\ub2e4. 5\ub9cc \uc704\uc548 \ubbf8\ub9cc\uc758 \uc800\uac00\ud615 1kg \ud398\uc774\ub85c\ub4dc SCARA \ub85c\ubd07\uc740 \uae30\ubcf8\uc801\uc778 \ud53d\uc564\ud50c\ub808\uc774\uc2a4 \uc791\uc5c5\uc5d0 \uc0ac\uc6a9\ub418\ub294 \ubc18\uba74, \uac00\uaca9\uc740 10\ubc30 \uc774\uc0c1 \ub192\uc740 \uace0\uc18d \uc815\ubc00 SCARA \ub85c\ubd07\uc740 \ubc18\ub3c4\uccb4 \uc6e8\uc774\ud37c \ud578\ub4e4\ub9c1\uc5d0 \uc0ac\uc6a9\ub429\ub2c8\ub2e4. \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc591 \ub610\ud55c \uadf8\uc5d0 \ube44\ub840\ud558\uc5ec \ub9e4\uc6b0 \ub2e4\uc591\ud569\ub2c8\ub2e4. \u00b11mm TCP(\uc791\uc5c5 \ucc98\ub9ac \uc2dc\uac04)\ub85c \ucda9\ubd84\ud55c \uac00\uc7a5 \uac04\ub2e8\ud55c \ud53d\uc564\ud50c\ub808\uc774\uc2a4 \uc791\uc5c5\uc5d0 \uc0ac\uc6a9\ub418\ub294 \uacbd\uc81c\uc801\uc778 EP-FPG P2\ubd80\ud130 \u00b10.02mm\uc758 TCP\uac00 \uc694\uad6c\ub418\ub294 \ubc18\ub3c4\uccb4 \ud578\ub4e4\ub9c1\uc6a9 SCARA \ub85c\ubd07\uc5d0 \uc0ac\uc6a9\ub418\ub294, \uac1c\ubcc4 \ubc31\ub798\uc2dc \uce21\uc815 \uc778\uc99d\uc744 \ubc1b\uc740 EP-FAD P0\uae4c\uc9c0 \uc788\uc2b5\ub2c8\ub2e4. \uc774 \uac00\uc774\ub4dc\ub294 \ubc31\ub798\uc2dc \ub4f1\uae09\uc774 \uc911\uc694\ud55c \uc0ac\uc591 \ub9e4\uac1c\ubcc0\uc218\uc778 \uc815\ubc00 \ub85c\ubd07, \uc989 P0\uacfc P1 \uc911 \uc5b4\ub5a4 \uac83\uc744 \uc120\ud0dd\ud558\ub290\ub0d0\uc5d0 \ub530\ub77c TCP \uc815\ud655\ub3c4\uc5d0 \uc2e4\uc9c8\uc801\uc778 \ucc28\uc774\uac00 \ubc1c\uc0dd\ud558\ub294 \uc751\uc6a9 \ubd84\uc57c\ub97c \ub2e4\ub8f9\ub2c8\ub2e4.<\/p>\n

\ud575\uc2ec\uc801\uc778 \uad6c\uc870\uc801 \ucc28\uc774\uc810\uc740 SCARA \ub85c\ubd07\uc758 J1\uacfc J2 \uad00\uc808\uc774 \ubaa8\ub450 \uc218\ud3c9\uba74\uc5d0\uc11c \uc6c0\uc9c1\uc774\uba70, \uc218\uc9c1\ucd95\uc744 \uc911\uc2ec\uc73c\ub85c \ud55c \ubaa8\uba58\ud2b8 \ud558\uc911\uc73c\ub85c \uc804\uccb4 \ud398\uc774\ub85c\ub4dc\uc640 \ud234 \ubb34\uac8c\ub97c \uc9c0\ud0f1\ud55c\ub2e4\ub294 \uc810\uc785\ub2c8\ub2e4. 6\ucd95 \ub85c\ubd07\uc5d0\uc11c\ub294 \ud314 \ubb34\uac8c\uac00 J1\ubd80\ud130 J3\uae4c\uc9c0 \ubd84\uc0b0\ub418\uba70, \uac01 \uad00\uc808\uc740 \ub85c\ubd07 \uad6c\uc131\uacfc \ud398\uc774\ub85c\ub4dc \uc704\uce58\uc5d0 \ub530\ub77c \uc11c\ub85c \ub2e4\ub978 \ube44\uc728\ub85c \ubb34\uac8c\ub97c \uc9c0\ud0f1\ud569\ub2c8\ub2e4. SCARA \ub85c\ubd07\uc5d0\uc11c\ub294 \uc218\ud3c9 \uc774\ub3d9 \uc911 J1 \uad00\uc808\uc774 \ud314 \uc804\uccb4\uc640 \ud398\uc774\ub85c\ub4dc\uc758 \ubaa8\uba58\ud2b8\ub97c \ud56d\uc0c1 \uc628\uc804\ud788 \uc9c0\ud0f1\ud558\uba70, \uad6c\uc131\uc5d0 \ub530\ub978 \ud558\uc911 \uac10\uc18c\uac00 \uc5c6\uc2b5\ub2c8\ub2e4. \ub530\ub77c\uc11c J1\uc740 SCARA \ub85c\ubd07\uc5d0\uc11c \uac00\uc7a5 \ud070 \ud558\uc911\uc744 \ubc1b\ub294 \uad00\uc808\uc774\uba70, \ud314\uc744 \ucd5c\ub300\ub85c \ud3bc\ucce4\uc744 \ub54c\uc758 \ubc31\ub798\uc2dc \uc815\ub3c4\uac00 TCP \uc815\ud655\ub3c4\uc5d0 \uac00\uc7a5 \ud070 \uc601\ud5a5\uc744 \ubbf8\uce69\ub2c8\ub2e4.<\/p>\n

SCARA \uc2dc\uc2a4\ud15c\uc758 J3\ub294 \ud68c\uc804 \uc870\uc778\ud2b8\uac00 \uc544\ub2cc \uc218\uc9c1 \uc120\ud615 \uc2a4\ud2b8\ub85c\ud06c \uc870\uc778\ud2b8\uc774\uba70, \uc77c\ubc18\uc801\uc73c\ub85c \uc720\uc131 \uae30\uc5b4\ubc15\uc2a4 \uc785\ub825\uc774 \uc788\ub294 \ubcfc\uc2a4\ud06c\ub958\ub85c \uad6c\ub3d9\ub429\ub2c8\ub2e4. J3\uc5d0\uc11c \uc911\uc694\ud55c \ubc31\ub798\uc2dc\ub294 Z\ucd95\uc758 \uc120\ud615 \uc704\uce58 \uc815\ubc00\ub3c4\uc774\uba70, \uc774\ub294 \ud504\ub808\uc2a4\ud54f \uc870\ub9bd \ubc0f \uc8fc\uc0ac\uae30 \ubd84\ubc30 \uc560\ud50c\ub9ac\ucf00\uc774\uc158\uc5d0\uc11c \uc0bd\uc785 \uae4a\uc774 \uc815\ubc00\ub3c4\ub97c \uacb0\uc815\ud569\ub2c8\ub2e4. J4\ub294 \ub85c\ubd07 \ud314 \ub05d\ub2e8 \ud234\uc758 \uc21c\uc218 \ud68c\uc804 \uc870\uc778\ud2b8\ub85c, \ud070 \ubaa8\uba58\ud2b8 \ud558\uc911\uc744 \ubc1b\uc9c0 \uc54a\uc73c\uba70 \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc591 \uce21\uba74\uc5d0\uc11c \uac00\uc7a5 \uc694\uad6c \uc0ac\ud56d\uc774 \ub0ae\uc740 \uc870\uc778\ud2b8\uc785\ub2c8\ub2e4. \uadf8\ub7ec\ub098 \uace0\uc18d SCARA \uc560\ud50c\ub9ac\ucf00\uc774\uc158\uc5d0\uc11c\ub294 J4\uc758 \uc0ac\uc774\ud074 \ud69f\uc218 \uc694\uad6c \uc0ac\ud56d\uc774 \ub9e4\uc6b0 \ub192\uae30 \ub54c\ubb38\uc5d0 \uc774 \uc18c\ud615 \uc870\uc778\ud2b8\uc5d0\uc11c\ub3c4 S5 \ub4c0\ud2f0 \uc0ac\uc774\ud074 \uc218\uba85 \uacc4\uc0b0\uc774 \uc911\uc694\ud569\ub2c8\ub2e4.<\/p>\n

<\/p>\n

\n
\u2699\ufe0f<\/div>\n
\n
SCARA \ubc31\ub798\uc2dc \uae30\ud558\ud559 \uaddc\uce59<\/div>\n
\uc0c1\uc644 \uae38\uc774 R1\uacfc \uc804\uc644 \uae38\uc774 R2\ub97c \uac16\ub294 SCARA\uc5d0\uc11c J1 \ubc31\ub798\uc2dc\ub294 \uc804\uccb4 \ud314 \uae38\uc774(R1+R2)\uc5d0\uc11c TCP \uc624\ucc28\uc5d0 \uc601\ud5a5\uc744 \ubbf8\uce69\ub2c8\ub2e4. J2 \ubc31\ub798\uc2dc\ub294 \uc804\uc644 \uae38\uc774 R2\uc5d0\uc11c\ub9cc TCP \uc624\ucc28\uc5d0 \uc601\ud5a5\uc744 \ubbf8\uce58\uba70, \uadf8 \uc601\ud5a5\uc740 R2\/(R1+R2) \ube44\uc728\ub85c \ube44\ub840\ud569\ub2c8\ub2e4. \ud314 \uae38\uc774\uac00 \uac19\uc740 \uc77c\ubc18\uc801\uc778 SCARA(R1=R2=300mm)\uc758 \uacbd\uc6b0, J2 \ubc31\ub798\uc2dc\ub294 \ucd5c\ub300 \uc2e0\uc804 \uc2dc TCP \uc624\ucc28\uc5d0 J1 \ubc31\ub798\uc2dc\uc758 50%\ub9cc\ud07c\ub9cc \uc601\ud5a5\uc744 \ubbf8\uce69\ub2c8\ub2e4. \uc774\ub294 J1\uc5d0\ub294 \ub354 \uc5c4\uaca9\ud55c \ub4f1\uae09 \uc0ac\uc591\uc774 \uc694\uad6c\ub418\ub294 \ubc18\uba74, J2\ub294 TCP \uc815\ud655\ub3c4 \uc608\uc0b0\uc744 \uc704\ubc18\ud558\uc9c0 \uc54a\uace0 J1\ubcf4\ub2e4 \ud55c \ub4f1\uae09 \uc815\ub3c4 \ub290\uc2a8\ud55c \uc0ac\uc591\uc744 \ud5c8\uc6a9\ud560 \uc218 \uc788\uc74c\uc744 \uc758\ubbf8\ud569\ub2c8\ub2e4. RSS \uc870\ud569 TCP_error = \u221a[(J1_bl_at_TCP)\u00b2 + (J2_bl_at_TCP)\u00b2]\uc744 \uc2e4\ud589\ud558\uba74 \ud56d\uc0c1 J1\ubd80\ud130 \uc2dc\uc791\ud569\ub2c8\ub2e4. J1\uc740 SCARA \uc815\ud655\ub3c4 \uc0ac\uc591\uc744 \uacb0\uc815\ud558\ub294 \uc8fc\uc694 \uc870\uc778\ud2b8\uc785\ub2c8\ub2e4.<\/div>\n<\/div>\n<\/div>\n<\/div>\n

<\/p>\n

<\/div>\n

SCARA \uc870\uc778\ud2b8 \uae30\uc5b4\ubc15\uc2a4 \uc120\ud0dd\ud45c \u2014 J1\ubd80\ud130 J4\uae4c\uc9c0<\/h3>\n

\uc544\ub798 \ud45c\ub294 \uac01 SCARA \uc870\uc778\ud2b8\uc5d0 \ub300\ud55c \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc591 \ud504\ub808\uc784\uc6cc\ud06c\ub97c \uc81c\uacf5\ud558\uba70, \ub3d9\uc791 \uc720\ud615, \ud558\uc911 \ud2b9\uc131, \ud1a0\ud06c \ubc94\uc704, \ud544\uc694\ud55c \ubc31\ub798\uc2dc \ub4f1\uae09, \uad8c\uc7a5 EP \uc2dc\ub9ac\uc988 \ubc0f \uc120\ud0dd\uc744 \uacb0\uc815\ud558\ub294 \uc8fc\uc694 \uc81c\uc57d \uc870\uac74\uc744 \ud3ec\ud568\ud569\ub2c8\ub2e4. \ud45c\uc2dc\ub41c \uac12\uc740 \uc0c1\ubd80 \uc554\uacfc \ud558\ubd80 \uc554\uc758 \uae38\uc774\uac00 \uac01\uac01 300mm\uc778 3~5kg\uc758 \ub300\ud45c\uc801\uc778 \ud398\uc774\ub85c\ub4dc SCARA\ub97c \uae30\uc900\uc73c\ub85c \ud569\ub2c8\ub2e4. \ud398\uc774\ub85c\ub4dc \ub4f1\uae09 \ubc0f \uc554 \uae38\uc774\uc5d0 \ub530\ub77c \ud1a0\ud06c \uac12\uc744 \ube44\ub840\uc801\uc73c\ub85c \uc870\uc815\ud558\uc2ed\uc2dc\uc624.<\/p>\n

\n\n\n\n<\/p>\n\n\n\n\n
\uad00\uc808<\/th>\n\ub3d9\uc791\/\ubd80\ud558 \uc720\ud615<\/th>\n\ud1a0\ud06c \ubc94\uc704
\n(3~5kg \uc801\uc7ac\ub7c9)<\/th>\n		\ub4f1\uae09<\/th>\n\uc2dc\ub9ac\uc988<\/th>\n\ube44\uc728
\n\ubc94\uc704<\/th>\n		TCP \uc624\ub958
\n\uae30\ubd80\uae08<\/th>\n		\uc8fc\uc694 \uc81c\uc57d \uc870\uac74 \ubc0f \ucc38\uace0 \uc0ac\ud56d<\/th>\n<\/tr>\n<\/thead>\n
\uc81c1<\/td>\n\uae30\uc800 \ud68c\uc804<\/strong>
\n\uc218\ud3c9 \ubc29\ud5a5, \ud314 \uc804\uccb4 + \ud314\ub69d + \ud0d1\uc7ac\ubb3c\uc758 \uc218\uc9c1\ucd95\uc5d0 \ub300\ud55c \ubaa8\uba58\ud2b8<\/td>\n		50\u2013200 N\u00b7m
\n\ucd5c\ub300 \ud655\uc7a5 \uc2dc \ucd5c\uace0\uc810<\/span><\/td>\n		\ud53c0<\/span><\/td>\nEP-FAD P0
\n\ub610\ub294 EP-FAB P0
\n\ub192\uc740 Ct\uc758 \uacbd\uc6b0<\/span><\/td>\n		i = 10\u201320<\/td>\n\uc6b0\uc131
\n\ud314 \uc804\uccb4 \ubc18\uacbd<\/span><\/td>\n		\uac00\uc7a5 \uc5c4\uaca9\ud55c \uc0ac\uc591.<\/strong> \ubaa8\ub4e0 \ud655\uc7a5 \uc2dc \uc804\uccb4 \uc554 + \ud398\uc774\ub85c\ub4dc \ubaa8\uba58\ud2b8\uac00 \ubc1c\uc0dd\ud569\ub2c8\ub2e4. J1\uc5d0\uc11c\uc758 \ubc31\ub798\uc2dc\ub294 TCP\uc5d0\uc11c \ub098\ud0c0\ub098\uba70, \uc804\uccb4 \uc554 \ubc18\uacbd\uc5d0 \uc758\ud574 \uc99d\ud3ed\ub429\ub2c8\ub2e4. P0\ub294 \u00b10.05mm TCP \ub4f1\uae09\uc744 \uc704\ud574 \ud544\uc218\uc801\uc785\ub2c8\ub2e4. \ubaa8\uba58\ud2b8 \ud558\uc911 \ud558\uc5d0\uc11c\uc758 \uc218\ud3c9 \ubcc0\ud615\uc744 \ucd5c\uc18c\ud654\ud574\uc57c \ud558\ub294 \uacbd\uc6b0 EP-FAB \ubc29\uc2dd\uc774 \uad8c\uc7a5\ub429\ub2c8\ub2e4(\uc555\uc785 \ubc29\uc2dd). 30,000\uc2dc\uac04 S5 \uc218\uba85 \uac80\uc99d\uc744 \uc644\ub8cc\ud588\uc73c\uba70, \ub192\uc740 \uc0ac\uc774\ud074 \uc218\ub97c \uc694\uad6c\ud558\ub294 \uc560\ud50c\ub9ac\ucf00\uc774\uc158\uc5d0\ub294 L10 \uc218\uba85 \uac80\uc99d\uc774 \ud544\uc694\ud569\ub2c8\ub2e4.<\/td>\n<\/tr>\n

<\/p>\n

\uc81c2<\/td>\n\ud314\uafc8\uce58 \ud68c\uc804<\/strong>
\n\uc218\ud3c9 \ubc29\ud5a5, \ud314\ub69d + \uacf5\uad6c + \uc801\uc7ac\ubb3c\uc758 \ud314\uafc8\uce58 \ud68c\uc804\ucd95\uc744 \uc911\uc2ec\uc73c\ub85c \ud55c \uc218\uc9c1\ucd95\uc5d0 \ub300\ud55c \ubaa8\uba58\ud2b8<\/td>\n		20\u201380 N\u00b7m
\n\ud314\ub69d\ub9cc<\/span><\/td>\n		\ud53c0<\/span>\uc608\uc0b0\uc774 \ud5c8\ub77d\ud55c\ub2e4\uba74 P1\ub3c4 \uac00\ub2a5\ud569\ub2c8\ub2e4.*<\/span><\/td>\nEP-FAD P0
\n\ucef4\ud329\ud2b8 \uc6d0\ud615 \ud50c\ub79c\uc9c0<\/span><\/td>\n		i = 10\u201320<\/td>\n\ubc18\uc131
\n\uc804\uc644 \ubc18\uc9c0\ub984 \u00d7 0.5<\/span><\/td>\n		*\uc131\uc801\uc740 \uc5b4\ub290 \uc815\ub3c4 \uc644\ud654\ub420 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/strong> \ub3d9\uc77c\ud55c \uae38\uc774\uc758 \uc554\uc5d0\uc11c J2 \ubc31\ub798\uc2dc \uae30\uc5ec\ub3c4\ub294 \uae30\ud558\ud559\uc801\uc73c\ub85c J1\uc5d0 \ube44\ud574 \uc808\ubc18\uc73c\ub85c \uc904\uc5b4\ub4ed\ub2c8\ub2e4. \u00b10.1mm TCP\uc758 \uacbd\uc6b0 J1\uc5d0\uc11c P0\uc774\uba74 J2\uc5d0\uc11c P1\uc774 \uc801\uc808\ud55c \uacbd\uc6b0\uac00 \ub9ce\uc2b5\ub2c8\ub2e4. \u00b10.05mm TCP\uc758 \uacbd\uc6b0 J1\uacfc J2 \ubaa8\ub450\uc5d0\uc11c P0\uc774 \ud544\uc694\ud569\ub2c8\ub2e4. J2 \ub4f1\uae09\uc744 \uc644\ud654\ud558\uae30 \uc804\uc5d0 RSS \uc608\uc0b0 \uacc4\uc0b0\uc744 \uc2e4\ud589\ud558\uc5ec \ud655\uc778\ud558\uc2ed\uc2dc\uc624. \uc5d8\ubcf4 \ud558\uc6b0\uc9d5 \ub0b4\ubd80\uc758 J2 \uc18c\ud615\ud654\ub97c \uc704\ud574 EP-FAD(\uc6d0\ud615 \ud50c\ub79c\uc9c0)\uac00 \uad8c\uc7a5\ub429\ub2c8\ub2e4.<\/td>\n<\/tr>\n

<\/p>\n

J3<\/td>\nZ-\uc2a4\ud2b8\ub85c\ud06c(\uc120\ud615)<\/strong>
\n\ubcfc\uc2a4\ud06c\ub958\ub97c \uc774\uc6a9\ud55c \uc218\uc9c1 \uc9c1\uc120 \uc6b4\ub3d9. \ud0d1\uc7ac\ubb3c\uacfc \uacf5\uad6c \ubb34\uac8c\ub97c \uc9c0\ud0f1\ud569\ub2c8\ub2e4. \ud68c\uc804 \uad00\uc808\uc774 \uc544\ub2d9\ub2c8\ub2e4.<\/td>\n		5\u201330 N\u00b7m
\n\ubcfc\uc2a4\ud06c\ub958 \ub4dc\ub77c\uc774\ube0c<\/span><\/td>\n		\ud53c0<\/span><0.05mm Z\uc758 \uacbd\uc6b0<\/span><\/td>\nEP-FADS P0
\n\uc9c1\uc811 \uc0bd\uc785\ud615, \uc18c\ud615<\/span><\/td>\n		i = 5\u201310<\/td>\n\uc120\ud615 Z
\n\uae4a\uc774 \uc815\ud655\ub3c4<\/span><\/td>\n		\uc0bd\uc785 \uae4a\uc774\uac00 \uc911\uc694\ud569\ub2c8\ub2e4.<\/strong> EP-FADS P0 + \ubcfc\uc2a4\ud06c\ub958. FADS \uc9c1\uc811 \uc0bd\uc785 \ubc29\uc2dd\uc740 \ucef4\ud329\ud2b8\ud55c \uc190\ubaa9\uc5d0\uc11c 22mm\uc758 \ucd95 \ubc29\ud5a5 \uacf5\uac04\uc744 \uc808\uc57d\ud569\ub2c8\ub2e4. \ud68c\uc804 \uc785\ub825\ubd80\uc758 \uae30\uc5b4\ubc15\uc2a4 \ubc31\ub798\uc2dc\ub294 \ubcfc\uc2a4\ud06c\ub958 \ud53c\uce58\ub97c \ud1b5\ud574 \uc120\ud615 Z\ucd95 \uc624\ucc28\ub85c \uc774\uc5b4\uc9d1\ub2c8\ub2e4. Z_\uc624\ucc28 = (\ubc31\ub798\uc2dc \uc544\ud06c\ubd84 \/ 3438) \u00d7 \ubcfc\uc2a4\ud06c\ub958 \ud53c\uce58(mm). 5mm \ud53c\uce58 + FADS P0 0.78 \uc544\ud06c\ubd84\uc758 \uacbd\uc6b0, Z_\uc624\ucc28 = (0.78\/3438) \u00d7 5 = 0.0011mm\ub85c \ubb34\uc2dc\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc77c\ubc18\uc801\uc73c\ub85c Z\ucd95 \uc815\ud655\ub3c4\ub97c \uc81c\ud55c\ud558\ub294 \uac83\uc740 \uae30\uc5b4\ubc15\uc2a4 \ubc31\ub798\uc2dc\uac00 \uc544\ub2c8\ub77c \ubcfc\uc2a4\ud06c\ub958 \uc608\uc555\uc785\ub2c8\ub2e4.<\/td>\n<\/tr>\n

<\/p>\n

\uc81c4<\/td>\n\uacf5\uad6c \ud68c\uc804<\/strong>
\n\uc21c\uc218 \uc190\ubaa9 \ud68c\uc804\uc73c\ub85c \ud314\uc758 \uc6c0\uc9c1\uc784\uc774 \uc804\ud600 \uc5c6\uc2b5\ub2c8\ub2e4. \uc791\ub3d9 \uc2dc \uacf5\uad6c\uc758 \uad00\uc131\uacfc \uc811\ucd09\ub825\ub9cc \uc804\ub2ec\ub429\ub2c8\ub2e4.<\/td>\n		<5 N\u00b7m
\n\ub3c4\uad6c \uc804\uc6a9<\/span><\/td>\n		\ud53c0\/\ud53c1<\/span>\uc571\uc5d0 \ub530\ub77c \ub2e4\ub985\ub2c8\ub2e4.<\/span><\/td>\nEP-FADS P0\/P1
\n\uac00\uc7a5 \uc791\uc740 \ud504\ub808\uc784<\/span><\/td>\n		i = 5\u201316<\/td>\n\ucd5c\uc18c
\n\ub3c4\uad6c \uc804\uc6a9<\/span><\/td>\n		\uac00\uc7a5 \ud558\uc911\uc774 \uc801\uc740 \uad00\uc808.<\/strong> P0\uc740 \ubd84\uc0ac \ub178\uc990 \uac01\ub3c4 \uc815\ud655\ub3c4(0.5\u00b0 \ubbf8\ub9cc \ud544\uc694)\uc5d0 \uc801\ud569\ud569\ub2c8\ub2e4. P1\uc740 \uacf5\uad6c\uc758 \uac01\ub3c4 \uc815\ud655\ub3c4\uac00 \u00b11~2\u00b0\uc778 \uc2a4\ud06c\ub958 \ub4dc\ub77c\uc774\ube59 \ubc0f \ud53d\uc564\ud50c\ub808\uc774\uc2a4 \uc791\uc5c5\uc5d0 \uc0ac\uc6a9 \uac00\ub2a5\ud569\ub2c8\ub2e4. EP-FADS\ub294 \uc0ac\uc6a9 \uac00\ub2a5\ud55c \uac00\uc7a5 \uc791\uc740 \ud504\ub808\uc784(0.47mm)\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4. \ub9e4\uc6b0 \ub192\uc740 \uc0ac\uc774\ud074 \uc218\ub97c \uc790\ub791\ud558\uba70, S5 \uc791\uc5c5 \uc870\uac74\uc5d0\uc11c L10 \uc218\uba85\uc744 \uacc4\uc0b0\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ube60\ub978 \uacf5\uad6c \ubc29\ud5a5 \uc804\ud658 \uc0ac\uc774\ud074\uc744 \uc704\ud574 \ucd5c\ub300 10,000rpm\uc758 \ud68c\uc804 \uc18d\ub3c4\ub97c \uc785\ub825\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

<\/p>\n

\n
\ud398\uc774\ub85c\ub4dc \ud655\uc7a5:<\/strong> \ud45c\uc2dc\ub41c \ud1a0\ud06c \ubc94\uc704\ub294 3~5kg \ud398\uc774\ub85c\ub4dc\uc758 SCARA\uc5d0 \ub300\ud55c \uac83\uc785\ub2c8\ub2e4. 1kg\uc758 \uacbd\uc6b0 \uc57d 0.3\ubc30\ub85c \ucd95\uc18c\ud558\uc2ed\uc2dc\uc624. 10kg\uc758 \uacbd\uc6b0 \uc57d 2\ubc30\ub85c \ud655\ub300\ud558\uc2ed\uc2dc\uc624. 20kg \uc911\ub7c9 SCARA\uc758 \uacbd\uc6b0 J1\uc5d0\ub294 EP-FAB P0, J2\uc5d0\ub294 EP-FAD P0\uc744 \uc0ac\uc6a9\ud558\uc2ed\uc2dc\uc624. J4 \ud1a0\ud06c\ub294 \ud398\uc774\ub85c\ub4dc \ub4f1\uae09\uc5d0 \ub530\ub77c \ucd5c\uc18c\ud55c\uc73c\ub85c\ub9cc \uc870\uc815\ub429\ub2c8\ub2e4.<\/div>\n
\uc131\uc801 \ucc38\uace0 \uc0ac\ud56d *:<\/strong> J1\uc758 P0\uacfc TCP \uc608\uc0b0\uc774 \ud5c8\uc6a9\ud558\ub294 \uacbd\uc6b0 J2\uc758 P1\uc740 \ud5c8\uc6a9\ub429\ub2c8\ub2e4. J2 \ub4f1\uae09\uc744 \uc644\ud654\ud558\uae30 \uc804\uc5d0 \ud56d\uc0c1 RSS \uacc4\uc0b0\uc744 \uc2e4\ud589\ud558\uc2ed\uc2dc\uc624.<\/div>\n<\/div>\n

SCARA \ud398\uc774\ub85c\ub4dc, \uc554 \uae38\uc774 R1 \ubc0f R2, \ud544\uc694\ud55c TCP \uc815\ud655\ub3c4, \uc0ac\uc774\ud074 \uc18d\ub3c4\ub97c \ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc\uc5d0 \uc54c\ub824\uc8fc\uc2dc\uba74, \ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc\uc5d0\uc11c \uac01 \uad00\uc808\uc5d0 \uc801\ud569\ud55c \ub4f1\uae09, \ud504\ub808\uc784 \ud06c\uae30, \uc2dc\ub9ac\uc988\ub97c \ud655\uc778\ud558\uace0 J1+J2\ub97c \ud569\uc0b0\ud55c TCP \uc624\ucc28 \uc608\uc0b0 \uacc4\uc0b0\uc11c\ub97c \uc81c\uacf5\ud574 \ub4dc\ub9bd\ub2c8\ub2e4.<\/p>\n<\/div>\n<\/div>\n

<\/p>\n

\n
\n

\uacf5\ud559 \uacc4\uc0b0<\/span><\/p>\n

SCARA TCP \uc815\ud655\ub3c4 \uacc4\uc0b0 - J1\uacfc J2\uc758 \uc720\ud6a8 \uae30\uc5ec\ub3c4\uac00 \ub2e4\ub978 \uc774\uc720<\/h2>\n
\n
\"EP-FAD<\/p>\n
\n
TCP \uc624\ub958 \uae30\ud558\ud559<\/div>\n
\n
TCP\uc5d0\uc11c J1 \ubc31\ub798\uc2dc \uc624\ub958 \ubc1c\uc0dd:<\/span>
\n\u03b4_J1 = (\u03b8_J1 \/ 3438) \u00d7 (R1 + R2)<\/div>\n
TCP\uc5d0\uc11c J2 \ubc31\ub798\uc2dc \uc624\ub958 \ubc1c\uc0dd:<\/span>
\n\u03b4_J2 = (\u03b8_J2 \/ 3438) \u00d7 R2<\/div>\n
\ucd1d TCP \uc624\ub958(RSS):<\/span>
\n\u03b4_TCP = \u221a(\u03b4_J1\u00b2 + \u03b4_J2\u00b2)<\/div>\n<\/div>\n
R1 = \uc704\ud314 \uae38\uc774, R2 = \uc544\ub798\ud314 \uae38\uc774, \u03b8 = \uc11c\ubcf4 \ubcf4\uc815 \ud6c4 \ubc31\ub798\uc2dc(\ucd5c\uc18c \ud638)<\/div>\n<\/div>\n<\/div>\n

SCARA \uae30\ud558\ud559\uc801 \uad6c\uc870\uac00 6\ucd95 \ubc29\uc2dd\uacfc \ub2e4\ub978 \uc624\ucc28 \ud5c8\uc6a9 \ubc94\uc704\ub97c \uc694\uad6c\ud558\ub294 \uc774\uc720\ub294 \ubb34\uc5c7\uc77c\uae4c\uc694?<\/h3>\n

6\ucd95 \uc9c1\ub82c \ub85c\ubd07\uc5d0\uc11c \uac01 \uad00\uc808\uc740 \uad6c\uc131\uc5d0 \ub530\ub77c TCP \uc624\ucc28\uc5d0 \uc601\ud5a5\uc744 \ubbf8\uce58\uba70, \uc774\ub97c \uc815\ud655\ud558\uac8c \ud3c9\uac00\ud558\ub824\uba74 \uc804\uccb4 \uc790\ucf54\ube44\uc548 \ud589\ub82c \uacc4\uc0b0\uc774 \ud544\uc694\ud569\ub2c8\ub2e4. J1 \ubc31\ub798\uc2dc\uac00 TCP \uc624\ucc28\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc740 \ub85c\ubd07 \ud314 \uad6c\uc131, \ud398\uc774\ub85c\ub4dc \uc704\uce58, \uadf8\ub9ac\uace0 \ud3c9\uac00 \ub300\uc0c1 \ub3d9\uc791\uc5d0 \ub530\ub77c \ub2ec\ub77c\uc9d1\ub2c8\ub2e4. \ub300\ubd80\ubd84\uc758 6\ucd95 \ub85c\ubd07\uc5d0\uc11c \uc5d4\uc9c0\ub2c8\uc5b4\ub294 \ubaa8\ub4e0 \uad00\uc808\uc5d0 \uade0\uc77c\ud55c P0 \ub4f1\uae09\uc744 \uc9c0\uc815\ud558\uace0 \ub85c\ubd07 \ucee8\ud2b8\ub864\ub7ec\uc758 \uc5ed\uae30\uad6c\ud559 \ubc0f \ubc31\ub798\uc2dc \ubcf4\uc815\uc744 \ud1b5\ud574 \uc774\ub7ec\ud55c \ubcf5\ud569\uc801\uc778 \uc601\ud5a5\uc744 \uad00\ub9ac\ud569\ub2c8\ub2e4. \uc774 \uc0ac\uc774\ud2b8\uc5d0 \uc788\ub294 \ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc \uc0b0\uc5c5\uc6a9 \ub85c\ubd07 \uac00\uc774\ub4dc\uc5d0\uc11c\ub294 \ubaa8\ub4e0 \uad00\uc808\uc758 P0 \ub4f1\uae09\uc744 \uc124\uc815\ud558\uae30 \uc704\ud574 \ucd5c\ub300 \ud655\uc7a5 \uc2dc \ucd5c\uc545\uc758 \uacbd\uc6b0\ub97c \uac00\uc815\ud55c \uacc4\uc0b0\uc744 \uc0ac\uc6a9\ud569\ub2c8\ub2e4. \uc774\ub294 \ubcf4\uc218\uc801\uc774\uc9c0\ub9cc \uc548\uc804\ud55c \uc811\uadfc \ubc29\uc2dd\uc73c\ub85c, \uad6c\uc131\ubcc4 \ubd84\uc11d\uc774 \ud544\uc694\ud558\uc9c0 \uc54a\uc2b5\ub2c8\ub2e4. BOM \ube44\uc6a9\uc774 \uc911\uc694\ud558\uace0 \uad6c\uc131\ubcc4 \ubd84\uc11d\uc774 \uac00\ub2a5\ud55c 6\ucd95 \ub85c\ubd07\uc758 \uacbd\uc6b0, \uc774\ub860\uc801\uc73c\ub85c\ub294 J4\/J5\/J6 \uad00\uc808\uc774 TCP\uc5d0 \ud6e8\uc52c \uac00\uae5d\uace0 \ubc31\ub798\uc2dc \ub2e8\uc704\ub2f9 TCP \uc624\ucc28\uc5d0 \ub300\ud55c \uae30\uc5ec\ub3c4\uac00 \ub354 \uc791\uae30 \ub54c\ubb38\uc5d0 P0\uc5d0\uc11c P1\uc73c\ub85c \ub4f1\uae09\uc744 \uc644\ud654\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uadf8\ub7ec\ub098 \uc2e4\uc81c\ub85c\ub294 \ub300\ubd80\ubd84\uc758 SCARA \ub85c\ubd07 OEM \uc5d4\uc9c0\ub2c8\uc5b4\uac00 \ud544\uc694\ub85c \ud558\uc9c0 \uc54a\ub294 \uc644\uc804\ud55c \uc6b4\ub3d9\ud559\uc801 \uc624\ucc28 \uc804\ud30c \ubd84\uc11d\uc774 \ud544\uc694\ud569\ub2c8\ub2e4. \uc65c\ub0d0\ud558\uba74 2\ub9c1\ud06c SCARA \ub85c\ubd07\uc758 \uae30\ud558\ud559\uc801 \uad6c\uc870\uac00 \ud574\uc11d\uc801\uc73c\ub85c \uc815\ud655\ud55c \ud574\ub2f5\uc744 \uc81c\uacf5\ud558\uae30 \ub54c\ubb38\uc785\ub2c8\ub2e4.<\/p>\n

SCARA \ub85c\ubd07\uc758 \uacbd\uc6b0, \ub450 \uac1c\uc758 \ub9c1\ud06c\ub85c \uc774\ub8e8\uc5b4\uc9c4 \uc218\ud3c9 \ud3c9\uba74 \uad6c\uc870\ub294 \ud6e8\uc52c \ub354 \ub2e8\uc21c\ud558\uace0 \ub2e4\ub8e8\uae30 \uc26c\uc6b4 TCP \uc624\ucc28 \uc608\uc0b0\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4. J1\uacfc J2\ub294 \ubaa8\ub450 \uc218\uc9c1\ucd95\uc744 \uc911\uc2ec\uc73c\ub85c \ud68c\uc804\ud558\uace0 \ub85c\ubd07 \ud314\uc740 \ud56d\uc0c1 \uc218\ud3c9\uba74\uc5d0 \uc788\uae30 \ub54c\ubb38\uc5d0, \uac01 \uad00\uc808\uc758 \ubc31\ub798\uc2dc\uac00 \uc218\ud3c9 TCP \uc704\uce58 \uc624\ucc28\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc740 \ub85c\ubd07 \ud314 \uae38\uc774\uc640 \uac04\ub2e8\ud55c \uae30\ud558\ud559\uc801 \uad00\uacc4\ub97c \uac16\uc2b5\ub2c8\ub2e4. \ub530\ub77c\uc11c SCARA \ub85c\ubd07\uc758 TCP \uc624\ucc28 \uc608\uc0b0\uc740 \uadfc\uc0ac\uce58\uac00 \uc544\ub2cc \uc815\ud655\ud55c \uac12\uc744 \uac00\uc9c0\uba70, \ub3d9\uc77c\ud55c \ubc31\ub798\uc2dc \uac12\uc5d0\uc11c J1\uacfc J2\uac00 TCP \uc624\ucc28\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc774 \ubcf8\uc9c8\uc801\uc73c\ub85c \ub2e4\ub978 \uc774\uc720\ub97c \uba85\ud655\ud558\uac8c \ubcf4\uc5ec\uc90d\ub2c8\ub2e4.<\/p>\n

J1 \uae30\uc5ec\ub3c4:<\/strong> J1 \uc9c0\uc810\uc758 \ubc31\ub798\uc2dc \uac01\ub3c4 \u03b8\ub294 \uc804\uccb4 \ub85c\ubd07 \ud314(R1 + R2)\uc744 J1 \ucd95\uc744 \uc911\uc2ec\uc73c\ub85c \ud68c\uc804\uc2dc\ud0b5\ub2c8\ub2e4. J1 \ubc31\ub798\uc2dc\ub85c \uc778\ud55c TCP \ubcc0\uc704\ub294 \u03b4_J1 = (\u03b8_J1_effective \/ 3438) \u00d7 (R1 + R2)\ub85c \uacc4\uc0b0\ub429\ub2c8\ub2e4. \ub85c\ubd07 \ud314\uc774 \uc644\uc804\ud788 \ud655\uc7a5\ub41c \uc0c1\ud0dc\uc5d0\uc11c R1 + R2\ub294 \ucd5c\ub300 \ub3c4\ub2ec \uac70\ub9ac\uc774\ubbc0\ub85c, J1 \ubc31\ub798\uc2dc\ub294 \ub85c\ubd07\uc774 \uac00\uc7a5 \ub192\uc740 \uc815\ud655\ub3c4\ub97c \ud544\uc694\ub85c \ud558\ub294 \uc704\uce58, \uc989 \ubb3c\uac74\uc744 \uc9d1\uc5b4 \uc62e\uae30\ub294 \uc791\uc5c5\uc774 \uc77c\ubc18\uc801\uc73c\ub85c \ubc1c\uc0dd\ud558\ub294 \ucd5c\ub300 \ub3c4\ub2ec \uc704\uce58\uc5d0\uc11c \uac00\uc7a5 \ud070 TCP \uc601\ud5a5\uc744 \ubbf8\uce69\ub2c8\ub2e4.<\/p>\n

J2\uc758 \uae30\uc5ec\ub3c4\uac00 \uae30\ud558\ud559\uc801\uc73c\ub85c \uc808\ubc18\uc73c\ub85c \uc904\uc5b4\ub4dc\ub294 \uac83\uc740 \uc6b4\ub3d9\ud559\uc801 \uccb4\uc778\uc758 \uc9c1\uc811\uc801\uc778 \uacb0\uacfc\uc785\ub2c8\ub2e4. J2\uac00 \uc791\uc740 \uac01\ub3c4 \u03b4\u03b8\ub9cc\ud07c \ud68c\uc804\ud558\uba74 \uc804\uc644\uacfc \uac70\uae30\uc5d0 \uc5f0\uacb0\ub41c \ubaa8\ub4e0 \ubd80\ud488(J3, J4 \ubc0f \ud234)\uc740 \uc6c0\uc9c1\uc774\uc9c0\ub9cc \uc0c1\uc644\uc740 \uc6c0\uc9c1\uc774\uc9c0 \uc54a\uc2b5\ub2c8\ub2e4. J2 \ud68c\uc804\uc5d0 \ub530\ub978 TCP \ubcc0\uc704\ub294 \uc804\uc644 \uae38\uc774 R2\uc5d0\ub9cc \uc758\uc874\ud558\uba70 \uc0c1\uc644 R1\uc740 \uc601\ud5a5\uc744 \ubc1b\uc9c0 \uc54a\uc2b5\ub2c8\ub2e4. \uc774\ub294 \ub3d9\uc77c\ud55c TCP \uc704\uce58 \uc624\ucc28\uc5d0 \ub300\ud574 J2 \uae30\uc5b4\ubc15\uc2a4 \ubc31\ub798\uc2dc\uac00 J1 \uae30\uc5b4\ubc15\uc2a4 \ubc31\ub798\uc2dc\ubcf4\ub2e4 \ub808\ubc84 \uc554\uc774 \ub354 \uc791\ub2e4\ub294 \uac83\uacfc \uae30\ud558\ud559\uc801\uc73c\ub85c \ub3d9\uc77c\ud569\ub2c8\ub2e4. \ucd5c\ub300 \ud655\uc7a5 \uc704\uce58(\ud314\uc774 \uc644\uc804\ud788 \ud655\uc7a5\ub418\uc5b4 \ub808\ubc84 \uc554\uc774 \ucd5c\ub300\uac00 \ub418\ubbc0\ub85c TCP\uac00 \ubc31\ub798\uc2dc\uc5d0 \uac00\uc7a5 \ubbfc\uac10\ud55c \uc704\uce58)\uc5d0\uc11c J1\uc740 (R1 + R2)\uc5d0 \ub300\ud574 \uc791\uc6a9\ud558\uace0 J2\ub294 R2\uc5d0 \ub300\ud574\uc11c\ub9cc \uc791\uc6a9\ud569\ub2c8\ub2e4. R2 = 0.5 \u00d7 (R1 + R2)\uc778 \ub85c\ubd07(\uc774\ub294 \uc591\ucabd \ud314\uc744 \uac00\uc9c4 SCARA \ub85c\ubd07\uc758 \uacbd\uc6b0\uc784)\uc758 \uacbd\uc6b0 J2\ub294 J1\uc758 TCP \ub808\ubc84\ub9ac\uc9c0\uc758 \uc815\ud655\ud788 \uc808\ubc18\uc744 \uac00\uc9d1\ub2c8\ub2e4. R2\uac00 R1\ubcf4\ub2e4 \uc791\uc740 \ub85c\ubd07(\uc608: R1=400mm, R2=200mm\uc778 SCARA \ub85c\ubd07)\uc758 \uacbd\uc6b0 J2\uc758 \ub808\ubc84\ub9ac\uc9c0\ub294 \ub354\uc6b1 \uc791\uc544\uc9d1\ub2c8\ub2e4. R2\/(R1+R2) = 200\/600 = 0.33\uc774\ubbc0\ub85c J2 \ubc31\ub798\uc2dc\ub294 J1 \ubc31\ub798\uc2dc\uc758 TCP \uc601\ud5a5\uc758 3\ubd84\uc758 1\uc5d0 \ubd88\uacfc\ud558\uc5ec J2\uc5d0\uc11c\uc758 \ub4f1\uae09 \uc644\ud654\uac00 \ub354\uc6b1 \uc815\ub2f9\ud654\ub429\ub2c8\ub2e4.<\/p>\n

J2 \uae30\uc5ec\ub3c4:<\/strong> J2\uc5d0\uc11c\uc758 \ubc31\ub798\uc2dc \uac01\ub3c4 \u03b8\ub294 \uc804\uc644(R2)\ub9cc J2 \ucd95\uc744 \uc911\uc2ec\uc73c\ub85c \ud68c\uc804\uc2dc\ud0b5\ub2c8\ub2e4. J2 \ubc31\ub798\uc2dc\ub85c \uc778\ud55c TCP \ubcc0\uc704\ub294 \u03b4_J2 = (\u03b8_J2_effective \/ 3438) \u00d7 R2\uc785\ub2c8\ub2e4. \ud314 \uae38\uc774\uac00 \uac19\uc740 \ub85c\ubd07(R1 = R2)\uc758 \uacbd\uc6b0, \ub3d9\uc77c\ud55c \ubc31\ub798\uc2dc \ub4f1\uae09\uc5d0\uc11c J2\uc758 TCP \uae30\uc5ec\ub3c4\ub294 J1\uc758 TCP \uae30\uc5ec\ub3c4\uc758 \uc815\ud655\ud788 \uc808\ubc18\uc785\ub2c8\ub2e4. J2\uc758 TCP \uae30\uc5ec\ub3c4\uac00 \uae30\ud558\ud559\uc801\uc73c\ub85c \uc808\ubc18\uc73c\ub85c \uc904\uc5b4\ub4dc\ub294 \uac83\uc740 \ub4f1\uae09 \uc644\ud654 \uaddc\uce59\uc5d0 \ub300\ud55c \uacf5\ud559\uc801 \uadfc\uac70\uc785\ub2c8\ub2e4. \ud314 \uae38\uc774\uac00 \uac19\uc740 SCARA \uc124\uacc4\uc5d0\uc11c J2\uc5d0 P1, J1\uc5d0 P0\uc744 \uc9c0\uc815\ud558\uba74 \ub450 \uad00\uc808 \ubaa8\ub450\uc5d0\uc11c P0\uc744 \uc9c0\uc815\ud588\uc744 \ub54c\uc640 \uac70\uc758 \ub3d9\uc77c\ud55c TCP \uc624\ucc28 \uc608\uc0b0\uc744 \ub354 \ub0ae\uc740 \ube44\uc6a9\uc73c\ub85c \ub2ec\uc131\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

<\/p>\n

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\uc608\uc2dc \ubb38\uc81c: \uc804\uc790 \uc870\ub9bd SCARA, \u00b10.05mm TCP \uc0ac\uc591<\/div>\n
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\uc8fc\uc5b4\uc9c4<\/div>\n
\uc0c1\uc644 R1 = 300mm | \uc804\uc644 R2 = 300mm | \ucd5c\ub300 \ub3c4\ub2ec \uac70\ub9ac R1+R2 = 600mm | TCP \uc815\ud655\ub3c4 \uc0ac\uc591: \u00b10.05mm | J1+J2 \ubaa8\ub450: EP-FAD P0 (\uce21\uc815\uac12 0.78 arc-min, 60% \uc11c\ubcf4 \ubcf4\uc815 \u2192 \uc720\ud6a8\uac12 0.31 arc-min)<\/div>\n<\/div>\n
\n
\uacc4\uc0b0<\/div>\n
\u03b4_J1 = (0.31\/3438) \u00d7 600 = 0.054mm | \u03b4_J2 = (0.31\/3438) \u00d7 300 = 0.027mm | \u03b4_TCP = \u221a(0.054\u00b2 + 0.027\u00b2) = \u221a(0.00292 + 0.00073) = \u221a0.00365 = 0.060mm<\/strong><\/div>\n<\/div>\n
\n
\uacb0\uacfc \u2014 \uc57d\uac04 \ucd08\uacfc<\/div>\n
0.060mm\ub294 \u00b10.05mm \uc608\uc0b0\uc744 \uc57d\uac04 \ucd08\uacfc\ud569\ub2c8\ub2e4. \uc635\uc158: (1) \uc11c\ubcf4 \ubcf4\uc0c1 \uacc4\uc218\ub97c 70%(60%\uc5d0\uc11c)\ub85c \uac1c\uc120 \u2192 \u03b4_J1 = 0.047mm, \u03b4_TCP = 0.053mm \u2014 \uacbd\uacc4. (2) \ub354 \uc5c4\uaca9\ud55c \uce21\uc815\uac12\uc73c\ub85c EP-FAD \uc9c0\uc815(P0 \ub0b4\uc5d0\uc11c 0.65 arc-min \ub2ec\uc131 \uac00\ub2a5) \u2192 \u03b4_TCP = 0.051mm. (3) \ud5c8\uc6a9: \ub300\ubd80\ubd84\uc758 \u00b10.05mm \uc0ac\uc591\uc740 20% \uce21\uc815 \ubd88\ud655\uc2e4\uc131 \ub9c8\uc9c4\uc744 \uac00\uc9c0\uace0 \uc788\uc2b5\ub2c8\ub2e4. 0.060mm\ub294 \uc0ac\uc591\uc758 \uce21\uc815 \ud5c8\uc6a9 \uc624\ucc28 \ubc94\uc704 \ub0b4\uc5d0 \uc788\uc2b5\ub2c8\ub2e4.<\/div>\n<\/div>\n<\/div>\n
J2 \uc2dc\ub098\ub9ac\uc624\uc5d0\uc11c P1 \ub4f1\uae09:<\/strong> J2\uc5d0 P1(3 arc-min, 60% \ubcf4\uc815 = \uc720\ud6a8 1.2 arc-min)\uc774 \uc9c0\uc815\ub41c \uacbd\uc6b0: \u03b4_J2 = (1.2\/3438) \u00d7 300 = 0.105mm \u2192 \u03b4_TCP = \u221a(0.054\u00b2 + 0.105\u00b2) = \u221a(0.00292 + 0.01103) = 0.118mm \u2014 \uc608\uc0b0 \ucd08\uacfc. \u00b10.05mm \uc0ac\uc591\uc758 \uacbd\uc6b0, J1\uc5d0 P0\uc774 \uc788\ub354\ub77c\ub3c4 J2\uc5d0 P1\uc744 \uc801\uc6a9\ud558\ub294 \uac83\uc740 \uc801\uc808\ud558\uc9c0 \uc54a\uc2b5\ub2c8\ub2e4. \uc774 \uc0ac\uc591 \ub4f1\uae09\uc5d0\uc11c\ub294 J1\uacfc J2 \ubaa8\ub450\uc5d0 P0\uc774 \ud544\uc694\ud569\ub2c8\ub2e4. J2\uc5d0 P1\uc744 \uc801\uc6a9\ud558\ub294 \uac83\uc740 \u00b10.10mm \ub610\ub294 \uadf8\ubcf4\ub2e4 \uc644\ud654\ub41c TCP \uc694\uad6c \uc0ac\ud56d\uc5d0 \uc801\ud569\ud569\ub2c8\ub2e4.<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n

<\/p>\n

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\n

\uc0b0\uc5c5 \uc751\uc6a9 \ubd84\uc57c<\/span><\/p>\n

SCARA \uc801\uc6a9 \uc2dc\ub098\ub9ac\uc624 5\uac00\uc9c0 - \uc804\uc790, \uc81c\uc57d, \uc2dd\ud488, \uc790\ub3d9\ucc28 \ubc0f \uc2e4\ud5d8\uc2e4 \uc790\ub3d9\ud654<\/h2>\n

\uc544\ub798\uc758 \ub2e4\uc12f \uac00\uc9c0 \uc2dc\ub098\ub9ac\uc624\ub294 \ub2e4\uc12f \uac00\uc9c0 \uc0b0\uc5c5 \ubd84\uc57c\uc5d0\uc11c \uac00\uc7a5 \uc77c\ubc18\uc801\uc778 SCARA \uc801\uc6a9 \uc0ac\ub840\ub97c \ub2e4\ub8f9\ub2c8\ub2e4. \uac01 \uc2dc\ub098\ub9ac\uc624\uc5d0\uc11c\ub294 \ub124 \uac1c\uc758 \uc870\uc778\ud2b8 \ubaa8\ub450\uc5d0 \ub300\ud55c \ub4f1\uae09 \ubc0f \uc2dc\ub9ac\uc988\ub97c \uba85\uc2dc\ud558\uace0, \uc8fc\uc694 \uc0ac\uc591 \uc81c\uc57d \uc870\uac74\uc744 \ud30c\uc545\ud558\uba70, \ud658\uacbd\ubcc4 \uc694\uad6c \uc0ac\ud56d\uc744 \uc124\uba85\ud569\ub2c8\ub2e4. \uc2dc\ub098\ub9ac\uc624\ub294 TCP \uc815\ud655\ub3c4 \uc694\uad6c \uc0ac\ud56d\uc774 \uac00\uc7a5 \ub192\uc740 \ubd84\uc57c(\uc804\uc790 \uc870\ub9bd, \u00b10.05mm)\ubd80\ud130 \uac00\uc7a5 \uc644\ud654\ub41c \ubd84\uc57c(\uc2dd\ud488 \ud3ec\uc7a5, \u00b12mm)\uae4c\uc9c0 \uc21c\uc11c\ub300\ub85c \uc81c\uc2dc\ub418\uba70, \uc774\ub294 \uac00\uc7a5 \uace0\uac00\uc758 \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc591\ubd80\ud130 \uac00\uc7a5 \uacbd\uc81c\uc801\uc778 \uc0ac\uc591\uae4c\uc9c0\uc758 \uacbd\ud5a5\uc744 \ubc18\uc601\ud569\ub2c8\ub2e4.<\/p>\n

\n
\"\ud55c\uad6d
\n\"EP-FAB<\/p>\n

EP-FAB P0(\uc704)\uc740 \ube44\ud2c0\ub9bc \uac15\uc131\uacfc \ubc31\ub798\uc2dc\uac00 \uc911\uc694\ud55c \uace0\ud558\uc911 SCARA J1\uc5d0 \uc0ac\uc6a9\ub429\ub2c8\ub2e4. EP-FAD P0\uc740 \ud45c\uc900 3~5kg SCARA J1\/J2\uc5d0 \uc0ac\uc6a9\ub429\ub2c8\ub2e4. \ub450 \ubaa8\ub378 \ubaa8\ub450 C1~C10 \ubc94\uc6a9 \ubaa8\ud130 \uc5b4\ub311\ud130 \uc2dc\uc2a4\ud15c\uc744 \uacf5\uc720\ud569\ub2c8\ub2e4.<\/p>\n<\/div>\n

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<\/p>\n

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01<\/div>\n
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PCB \ubd80\ud488 \uc0bd\uc785 \u2014 \uace0\uc18d \uc804\uc790 \uc870\ub9bd<\/div>\n

\uc804\uc790 \uc870\ub9bd\uc6a9 SCARA \uc7a5\ube44\ub294 300mm \u00d7 300mm \uc791\uc5c5 \uc601\uc5ed\uc5d0\uc11c \ubd84\ub2f9 30~60\ud68c\uc758 \ud53c\ud0b9 \uc791\uc5c5\uc744 \u00b10.05mm TCP\uc758 \uc815\ubc00\ub3c4\ub85c \uc218\ud589\ud569\ub2c8\ub2e4. \uc0ac\uc774\ud074\uc740 Z3 \ud558\uac15, J4 \ubc29\ud5a5 \uc124\uc815, \ud53c\ud0b9, Z3 \uc0c1\uc2b9, J1+J2 \uc7ac\ubc30\uce58, Z3 \ud558\uac15, J4 \uc7ac\uc815\ub82c, \ubc30\uce58 \uc21c\uc73c\ub85c \uad6c\uc131\ub429\ub2c8\ub2e4. J1\uacfc J2\ub294 \ubd84\ub2f9 30\ud68c \uc774\uc0c1\uc758 \ubc29\ud5a5 \uc804\ud658\uc744 \uc218\ud589\ud558\ub294\ub370, \uc774\ub7ec\ud55c \uc791\uc5c5 \ud328\ud134\uc740 \uc7a5\ube44\uc758 5\ub144 \uc0dd\uc0b0 \uc218\uba85 \ub3d9\uc548 \uc0c1\ub2f9\ud55c \ubc31\ub798\uc2dc \ub9c8\ubaa8\ub97c \ub204\uc801\uc2dc\ud0b5\ub2c8\ub2e4. \uc5f0\uac04 \uc0ac\uc774\ud074 \ud69f\uc218\ub294 \ubd84\ub2f9 30\ud68c \ud53c\ud0b9 \u00d7 60 \u00d7 20\uc2dc\uac04\/\uc77c \u00d7 250\uc77c = \uc5f0\uac04 900\ub9cc \ud68c \ud53c\ud0b9 \u00d7 5\ub144 = J1\uacfc J2\uc5d0\uc11c \ucd1d 4,500\ub9cc \ud68c\uc758 \uc0ac\uc774\ud074\uc774 \ubc1c\uc0dd\ud569\ub2c8\ub2e4. \uc774\ub7ec\ud55c \uc0ac\uc774\ud074 \ud69f\uc218\uc5d0\uc11c \uc815\uaca9 S5 \uc791\uc5c5 \ubd80\ud558\uc758 EP-FAD P0 \uc7a5\ube44\uc870\ucc28\ub3c4 30,000\uc2dc\uac04\uc758 L10 \uc218\uba85 \ub0b4\uc5d0 \uc788\uc9c0\ub9cc, \uc2e4\uc81c \uac00\ub3d9 \uc2dc\uac04\uc744 \ud655\uc778\ud558\uc5ec \uac80\uc99d\ud574\uc57c \ud569\ub2c8\ub2e4. EP-FADS P0\uacfc NYOGEL 792D(ISO Class 5 \uc785\uc790 \ubc29\ucd9c)\uac00 J3\uc5d0 \uc9c0\uc815\ub41c \uc774\uc720\ub294 \ub300\ubd80\ubd84\uc758 \uc804\uc790 \uc81c\ud488 \uc870\ub9bd \ub77c\uc778\uc774 \ub85c\ubd07\uc5d0\uc11c \ubc1c\uc0dd\ud558\ub294 \uc785\uc790 \ubc29\ucd9c\uc744 \ubaa8\ub2c8\ud130\ub9c1\ud558\ub294 ISO Class 6-7 \ud074\ub9b0\ub8f8\uc774\uae30 \ub54c\ubb38\uc785\ub2c8\ub2e4.<\/p>\n

\uc0ac\uc591:<\/strong> J1: EP-FAD P0 090mm i=10. J2: EP-FAD P0 060mm i=10. J3: EP-FADS P0 047mm i=5 + 5mm \ud53c\uce58 \ubcfc\uc2a4\ud06c\ub958. J4: EP-FADS P0 042mm i=5. NYOGEL 792D \uc7ac\uc9c8, \uc804\uccb4 \ubc00\ubd09. IP65 \ud45c\uc900.<\/div>\n<\/div>\n<\/div>\n<\/div>\n

<\/p>\n

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02<\/div>\n
\n
\uc8fc\uc0ac\uae30 \ubc0f \ubc14\uc774\uc54c \ubd84\ubc30 \u2014 \uc81c\uc57d \uc870\ub9bd<\/div>\n

\uc81c\uc57d\uc6a9 SCARA\ub294 GMP \uc870\uac74 \ud558\uc5d0\uc11c \uc8fc\uc0ac\uae30\uc5d0 \uc57d\ud488\uc744 \ucc44\uc6b0\uace0 \ubc14\uc774\uc54c\uc744 \ube14\ub9ac\uc2a4\ud130 \ud2b8\ub808\uc774\uc5d0 \ub2f4\uc2b5\ub2c8\ub2e4. Z\ucd95(J3) \uae4a\uc774 \uc815\ud655\ub3c4\ub294 \ub9e4\uc6b0 \uc911\uc694\ud558\uba70, \uc8fc\uc0ac\uae30 \ucda9\uc804 \uae4a\uc774 \u00b10.1mm\uac00 \ucda9\uc804\ub7c9 \uc815\ud655\ub3c4\ub97c \uacb0\uc815\ud569\ub2c8\ub2e4. \uae30\uc5b4\ubc15\uc2a4 \ubc31\ub798\uc2dc\ub85c \uc778\ud55c Z\ucd95 \uc624\ucc28\ub294 Z_error = (0.78\/3438) \u00d7 5mm \ud53c\uce58 = 0.0011mm\ub85c \ubb34\uc2dc\ud560 \uc218 \uc788\uc73c\uba70, \ubcfc\uc2a4\ud06c\ub958 \uc608\uc555\uc774 \uc2e4\uc81c Z\ucd95 \uc815\ud655\ub3c4\ub97c \uacb0\uc815\ud569\ub2c8\ub2e4. \ubc14\uc774\uc54c\uacfc \ud2b8\ub808\uc774 \uc0ac\uc774\uc758 \ubc30\uce58 \uc815\ud655\ub3c4(TCP) \u00b10.1mm\ub294 J1\uc5d0 P0, J2\uc5d0 P1\uc744 \uc124\uc815\ud558\uc5ec \ub2ec\uc131\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4(\uc704 \uacc4\uc0b0\uac12 0.118mm\ub294 \uacbd\uacc4\uc120 \uc218\uc900\uc774\uba70, \uc774 \uc801\uc6a9 \ubd84\uc57c\uc5d0\uc11c\ub294 \ub9c8\uc9c4 \ud655\ubcf4\ub97c \uc704\ud574 J2\uc5d0 P0\uc744 \uc124\uc815\ud588\uc2b5\ub2c8\ub2e4). GMP \ud658\uacbd\uc5d0\uc11c\ub294 \uc81c\ud488\uacfc \uc811\ucd09\ud558\uc9c0 \uc54a\ub294 \uae30\uc5b4\ubc15\uc2a4 \ud558\uc6b0\uc9d5 \ub0b4\ubd80\uc758 \ubc00\ubd09 \uc724\ud65c\uc720\ub85c NYOGEL 792D(ISO Class 5 \uc778\uc99d)\ub97c \uc0ac\uc6a9\ud574\uc57c \ud569\ub2c8\ub2e4. \ub85c\ubd07 \ud314 \uc790\uccb4\uac00 \uc2dd\ud488 \ubc0f \uc74c\ub8cc \uc704\uc0dd \uad6c\uc5ed \uc9c0\uce68\uc5d0 \ub530\ub77c \uad6c\uc5ed 1\/2\uc5d0 \uc704\uce58\ud558\ub294 \uacbd\uc6b0, \uc81c\ud488 \ucda9\uc804 \uacbd\ub85c\uc640 \uac00\uc7a5 \uac00\uae4c\uc6b4 J3\/J4 \ubd80\ubd84\uc5d0 \uc2a4\ud14c\uc778\ub9ac\uc2a4 \ud558\uc6b0\uc9d5\uacfc IP69K \ub4f1\uae09\uc758 \ubcf4\ud638 \uc7a5\uce58\uac00 \ud544\uc694\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

\uc0ac\uc591:<\/strong> J1: EP-FAD P0 090mm. J2: EP-FAD P0 060mm. J3: EP-FADS P0 047mm. J4: EP-FADS P0 042mm. GMP \ubb38\uc11c: \ub2e8\uc704\ubcc4 \ubc31\ub798\uc2dc \uc778\uc99d\uc11c + IP65 \ud14c\uc2a4\ud2b8 \uae30\ub85d + \ubd80\ub85d 1 \uae30\uc220 \ud30c\uc77c\uc5d0 \ub300\ud55c NYOGEL 792D ISO Class 5 \uac80\uc99d.<\/div>\n<\/div>\n<\/div>\n<\/div>\n

<\/p>\n

\n
\n
03<\/div>\n
\n
\ucd08\ucf5c\ub9bf\uacfc \ucfe0\ud0a4\ub97c \uace8\ub77c \ub2f4\uc744 \uc218 \uc788\ub294 \ud3ec\uc7a5 \uc6a9\uae30 - \uc2dd\ud488 \ud3ec\uc7a5<\/div>\n

\uc2dd\ud488 \ud3ec\uc7a5\uc6a9 SCARA \uc2dc\uc2a4\ud15c\uc740 \ucd08\ucf5c\ub9bf \uc870\uac01\uc774\ub098 \ucfe0\ud0a4\ub97c \ud2b8\ub808\uc774\uc5d0 \ubd84\ub2f9 \ucd5c\ub300 80\ud68c \uc9d1\uc5b4 \uc62c\ub9ac\ub294 \uc18d\ub3c4\ub85c \uc791\ub3d9\ud558\ub294\ub370, \uc774\ub294 \ubaa8\ub4e0 \uc751\uc6a9 \ubd84\uc57c\uc5d0\uc11c \uac00\uc7a5 \ub192\uc740 SCARA \uc0ac\uc774\ud074 \uc18d\ub3c4 \uc911 \ud558\ub098\uc785\ub2c8\ub2e4. TCP \uc815\ud655\ub3c4\ub294 \u00b12mm\ub85c \ub109\ub109\ud55c \uc218\uc900\uc774\uc9c0\ub9cc(\uc81c\ud488 \ud5c8\uc6a9 \uc624\ucc28\ub85c \uc778\ud574 \uc57d\uac04\uc758 \uc624\ucc28\uac00 \ubc1c\uc0dd\ud560 \uc218 \uc788\uc74c), \uadf9\ub3c4\ub85c \ub192\uc740 \uc0ac\uc774\ud074 \uc218\ub85c \uc778\ud574 \uc791\ub3d9 \uc218\uba85 \uacc4\uc0b0\uc5d0 \uc81c\uc57d\uc774 \uc0dd\uae41\ub2c8\ub2e4. 80\ud68c \uc9d1\uc5b4 \uc62c\ub9ac\uae30\/\ubd84 \u00d7 60 \u00d7 16\uc2dc\uac04\/\uc77c \u00d7 300\uc77c\/\ub144 = \uc5f0\uac04 2,300\ub9cc \uc0ac\uc774\ud074\uc785\ub2c8\ub2e4. \uc774 \uc18d\ub3c4\uc5d0\uc11c \uc77c\ubc18\uc801\uc778 30% \uc628\ud0c0\uc784 \ube44\uc728\uc5d0\uc11c\ub3c4 EP-FAD P0 30,000\uc2dc\uac04 L10\uc740 \uc57d 4.1\ub144(30,000 \/ (0.30 \u00d7 8760) = 11.4\ub144, \uc815\uaca9 \ud1a0\ud06c 30% \uae30\uc900: 11.4 \u00d7 (100\/30)\u00b3 = 423\ub144 - \uae30\uc5b4\ubc15\uc2a4 \uc218\uba85\uc774 \uc81c\ud55c \uc694\uc18c\ub294 \uc544\ub2d8)\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4. \uc2e4\uc9c8\uc801\uc778 \uc81c\ud55c \uc694\uc18c\ub294 \uc624\uc5fc\uc785\ub2c8\ub2e4. \uc2dd\ud488 \ud658\uacbd\uc5d0\uc11c\ub294 \uc704\uc0dd \uad6c\uc5ed \uc9c0\uce68\uc5d0 \ub530\ub77c IP69K \ub4f1\uae09\uc758 \ubcf4\ud638 \ub4f1\uae09\uacfc NSF H1 \ub4f1\uae09\uc758 \uc724\ud65c\uc720 \uc0ac\uc6a9\uc774 \uc694\uad6c\ub429\ub2c8\ub2e4. \uad6c\uc5ed 3(\uc678\ubd80 \ud3ec\uc7a5 \uc601\uc5ed)\uc5d0\uc11c\ub294 \ud45c\uc900 IP69K \ub4f1\uae09\uc758 \uc54c\ub8e8\ubbf8\ub284 \ud558\uc6b0\uc9d5\uc73c\ub85c \ucda9\ubd84\ud558\uc9c0\ub9cc, \uc81c\ud488\uacfc \uc9c1\uc811 \uc811\ucd09\ud558\ub294 \uc601\uc5ed\uc5d0\ub294 \uc2a4\ud14c\uc778\ub9ac\uc2a4\uac15 \ud558\uc6b0\uc9d5\uc5d0 H1 \ub4f1\uae09 \uc724\ud65c\uc720\ub97c \uc0ac\uc6a9\ud574\uc57c \ud569\ub2c8\ub2e4.<\/p>\n

\uc0ac\uc591:<\/strong> J1: EP-FAD P1 090mm + IP69K. J2: EP-FAD P1 060mm + IP69K. J3: EP-FADS P1 047mm + IP69K. J4: EP-FADS P1 042mm + IP69K. P1\uc740 \u00b12mm TCP\uc5d0 \uc801\ud569\ud569\ub2c8\ub2e4. \uad6c\uc5ed\ubcc4 \uc704\uc0dd \uad6c\uc5ed \uac00\uc774\ub4dc.<\/div>\n<\/div>\n<\/div>\n<\/div>\n

<\/p>\n

\n
\n
04<\/div>\n
\n
\uc18c\ud615 \ubd80\ud488 \ud504\ub808\uc2a4\ud54f \uc870\ub9bd \u2014 \uc790\ub3d9\ucc28 \ubd80\ud488<\/div>\n

\uc790\ub3d9\ucc28\uc6a9 SCARA \uc2dc\uc2a4\ud15c\uc740 Z\ucd95 \uc2a4\ud2b8\ub85c\ud06c\ub97c \uc774\uc6a9\ud558\uc5ec \ud540, \ubd80\uc2f1, \ubca0\uc5b4\ub9c1\uc744 \ud558\uc6b0\uc9d5\uc5d0 \ud504\ub808\uc2a4\ud54f \ubc29\uc2dd\uc73c\ub85c \uc0bd\uc785\ud569\ub2c8\ub2e4. \ubd80\ud488 \uc704\uce58\uc758 TCP \uc815\ud655\ub3c4\ub294 XY\ucd95 \uae30\uc900 \u00b10.1mm\uc785\ub2c8\ub2e4. Z\ucd95 \uae4a\uc774 \uc815\ud655\ub3c4\ub294 \uc815\ud655\ud55c \ud504\ub808\uc2a4\ud54f \uae4a\uc774\ub97c \uc704\ud574 \u00b10.05mm\uc785\ub2c8\ub2e4. \uc774 \uc560\ud50c\ub9ac\ucf00\uc774\uc158\uc5d0\uc11c \uac00\uc7a5 \uc911\uc694\ud55c \ucd95\uc740 J3 Z\ucd95\uc774\uba70, \ud2b9\ud788 \ud504\ub808\uc2a4\ud54f \uc0bd\uc785\ub825 \ud558\uc5d0\uc11c\uc758 \uc218\uc9c1 \ubc29\ud5a5 \uc720\uc5f0\uc131\uc774 \uc911\uc694\ud569\ub2c8\ub2e4. \ud504\ub808\uc2a4\ud54f \uacfc\uc815\uc5d0\uc11c Z\ucd95 \ubaa8\ud130\ub294 \uae30\uc5b4\ubc15\uc2a4\uc640 \ubcfc\uc2a4\ud06c\ub958\ub97c \ud1b5\ud574 \uc804\ub2ec\ub418\ub294 \uc0bd\uc785\ub825(\uc77c\ubc18\uc801\uc73c\ub85c \ud558\ud5a5 50~200N)\uc5d0 \ub300\ud574 \uc704\uce58\ub97c \uc720\uc9c0\ud569\ub2c8\ub2e4. \uc774\ub7ec\ud55c \ubc18\ub825 \ud558\uc5d0\uc11c J3 \uae30\uc5b4\ubc15\uc2a4\uc758 \uc720\uc5f0\uc131\uc774 \ubc1c\uc0dd\ud558\uba74 Z\ucd95 \uae4a\uc774 \uc624\ucc28\uac00 \ubc1c\uc0dd\ud569\ub2c8\ub2e4. J3\uc758 \uc720\uc5f0\uc131 \uacc4\uc0b0 \uacf5\uc2dd\uc740 \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4: Z_\uc624\ucc28_\uc5f0\uc18d\uc131 = (\uc0bd\uc785\ub825 \u00d7 \ubcfc\uc2a4\ud06c\ub958 \ud53c\uce58 \/ (2\u03c0 \u00d7 Ct_J3)) \u00d7 \uc544\ud06c\ubd84\/\ub77c\ub514\uc548 \ubcf4\uc815. EP-FADS\uc758 \uacbd\uc6b0 Ct ~25 N\u00b7m\/arc-min\uc5d0\uc11c \uae30\uc5b4\ubc15\uc2a4 \ucef4\ud50c\ub77c\uc774\uc5b8\uc2a4\ub294 Z\ucd95 \uae4a\uc774 \uc624\ucc28\uc5d0 \uc57d 0.003~0.010mm\ub97c \uc720\ubc1c\ud558\uba70, \uc774\ub294 \u00b10.05mm \ud5c8\uc6a9 \uc624\ucc28 \ubc94\uc704 \ub0b4\uc5d0 \uc788\uc2b5\ub2c8\ub2e4. J3 \ubaa8\ub378\uc5d0\ub294 \ubcfc\uc2a4\ud06c\ub958 \uc608\uc555\uc774 \ucd94\uac00\uc801\uc778 \uace0\uc815 \uac15\uc131\uc744 \uc81c\uacf5\ud558\ubbc0\ub85c EP-FAB \uc2dc\ub9ac\uc988\uac00 \ud544\uc694\ud558\uc9c0 \uc54a\uc2b5\ub2c8\ub2e4. J1\/J2 \ubaa8\ub378\uc740 \ud504\ub808\uc2a4 \uc791\uc5c5 \uc804\uc5d0 \u00b10.1mm\uc758 XY \uc704\uce58 \uc870\uc815\uc744 \uc704\ud574 P0\uc774 \ud544\uc694\ud569\ub2c8\ub2e4.<\/p>\n

\uc0ac\uc591:<\/strong> J1: EP-FAD P0 090mm. J2: EP-FAD P0 060mm. J3: EP-FADS P0 047mm (\uc801\ud569\uc131 \ud655\uc778 \uc644\ub8cc). J4: EP-FADS P0\/P1 042mm. \uc0b0\uc5c5 \ud658\uacbd, \uc2dd\ud488 \uad6c\uc5ed \uc544\ub2d8. \ud45c\uc900 IP65 \ub4f1\uae09\uc73c\ub85c \ucda9\ubd84\ud569\ub2c8\ub2e4.<\/div>\n<\/div>\n<\/div>\n<\/div>\n

<\/p>\n

\n
\n
05<\/div>\n
\n
\uc561\uccb4 \ubd84\uc8fc \ubc0f \uc2dc\ub8cc \ucc98\ub9ac \u2014 \uc2e4\ud5d8\uc2e4 \uc790\ub3d9\ud654<\/div>\n

\uc2e4\ud5d8\uc2e4\uc6a9 SCARA\ub294 \uc2e0\uc57d \uac1c\ubc1c \ubc0f \uc784\uc0c1 \ubd84\uc11d \uc2dc\uc2a4\ud15c\uc5d0\uc11c \ub9c8\uc774\ud06c\ub85c\ud50c\ub808\uc774\ud2b8, \ud53c\ud3ab, \uc0d8\ud50c \ud29c\ube0c\ub97c \ucc98\ub9ac\ud569\ub2c8\ub2e4. \ucc98\ub9ac \uc6a9\ub7c9\uc740 \uac00\ubccd\uace0(1~2kg) \ucc98\ub9ac \uc18d\ub3c4\ub294 \uc801\ub2f9\ud558\uc9c0\ub9cc(\ubd84\ub2f9 15~30\ud68c), \uc815\ud655\ub3c4 \uc694\uad6c \uc0ac\ud56d\uc740 \ub9e4\uc6b0 \uc5c4\uaca9\ud569\ub2c8\ub2e4. 384\uc6f0 \ud50c\ub808\uc774\ud2b8(\uc6f0 \ud53c\uce58 2.25mm, \uc6f0 \ud3ed \u00b10.1 \uc774\ub0b4 \uc911\uc559\uc5d0 \uc704\uce58\ud574\uc57c \ud568)\uc5d0\uc11c \uc6f0 \uac04 \uc704\uce58 \uc815\ubc00\ub3c4\ub294 \u00b10.2mm TCP\uc785\ub2c8\ub2e4. \ub610\ud55c SCARA\ub294 \uc785\uc790 \ubc30\ucd9c\ub7c9\uc774 \uadf9\ud788 \uc801\uc5b4\uc57c \ud569\ub2c8\ub2e4. \uc77c\ubd80 \uc751\uc6a9 \ubd84\uc57c\uc5d0\uc11c\ub294 \uc2e4\ud5d8\uc2e4 \ud658\uacbd\uc774 ISO Class 5~6 \ud074\ub9b0\ub8f8 \ud45c\uc900\uc744 \uc900\uc218\ud574\uc57c \ud558\uba70, \uae30\uc5b4\ubc15\uc2a4 \ubca0\uc5b4\ub9c1\uc5d0\uc11c \ubc1c\uc0dd\ud558\ub294 \uc724\ud65c\uc720 \uc785\uc790\uac00 \uc0d8\ud50c \ucc98\ub9ac \uc601\uc5ed\uc5d0 \ub3c4\ub2ec\ud558\uba74 \uc624\uc5fc\uc744 \uc720\ubc1c\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. NYOGEL 792D\ub85c \ubc00\ubd09\ub41c EP-FADS P0(\uc724\ud65c\uc720 \uac00\uc774\ub4dc\uc5d0 \ub530\ub77c ISO Class 5 \uc778\uc99d)\uc774 \uc801\ud569\ud55c \uc0ac\uc591\uc785\ub2c8\ub2e4. \uc2e4\ud5d8\uc2e4\uc5d0\uc11c \ubc18\ub3c4\uccb4 \uae30\ud310(\uc6e8\uc774\ud37c, \uc720\ub9ac \uc2ac\ub77c\uc774\ub4dc, \uc815\ubc00\ud55c \ud53c\uce58\uac00 \uc694\uad6c\ub418\ub294 \ub9c8\uc774\ud06c\ub85c\ud50c\ub808\uc774\ud2b8)\uc744 \ud578\ub4e4\ub9c1\ud558\ub294 SCARA \uc2dc\uc2a4\ud15c\uc758 \uacbd\uc6b0, \uc774 \uc0ac\uc774\ud2b8\uc758 \ud2b9\uc218 \ube44\uc728 \uac00\uc774\ub4dc, \ud2b9\ud788 21\uc2ac\ub86f \uce74\uc138\ud2b8 \ud578\ub4e4\ub7ec\uc5d0 \ub300\ud55c i=21 \ube44\uc728\uc774 \uc720\uc6a9\ud569\ub2c8\ub2e4. \uc774 \uacbd\uc6b0 \uc554\uc740 \uac01 \uce74\uc138\ud2b8 \uc2ac\ub86f\uc5d0\uc11c \ub204\uc801 \uc624\ucc28\ub97c \uc81c\uac70\ud558\uae30 \uc704\ud574 \ubaa8\ud130 \ud68c\uc804\uc218\ub97c \uc815\uc218\ub85c \ud1b5\uacfc\ud574\uc57c \ud569\ub2c8\ub2e4. \ubc18\ub3c4\uccb4 \uad00\ub828 \ubb38\uc11c\uc5d0 \uc124\uba85\ub41c \uac83\uacfc \ub3d9\uc77c\ud55c \ud53c\uce58 \ub9e4\uce6d \uacc4\uc0b0\ubc95\uc740 \uc554\uc774 \ud55c \ubc14\ud034 \ud68c\uc804\ud560 \ub54c\ub9c8\ub2e4 \uace0\uc815\ub41c \uc704\uce58 \uc218\ub97c \ud1b5\uacfc\ud574\uc57c \ud558\ub294 \ubaa8\ub4e0 SCARA \uc2dc\uc2a4\ud15c\uc5d0 \uc801\uc6a9\ub429\ub2c8\ub2e4. \uc791\uc740 \ud398\uc774\ub85c\ub4dc \ub355\ubd84\uc5d0 J1\uc5d0\ub294 0.47mm, J2\/J3\/J4\uc5d0\ub294 0.42mm FADS \ud504\ub808\uc784\uc744 \uc0ac\uc6a9\ud560 \uc218 \uc788\uc5b4 \uc2e4\ud5d8\uc2e4 \uc790\ub3d9\ud654 \uc2dc\uc2a4\ud15c\uc758 \uac00\ubcbc\uc6b4 \ud398\uc774\ub85c\ub4dc\uc5d0 \uc801\ud569\ud558\ub3c4\ub85d \uc554\uc744 \ub9e4\uc6b0 \uc791\uace0 \uac00\ubccd\uac8c \uc720\uc9c0\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

\uc0ac\uc591:<\/strong> J1: EP-FADS P0 060mm (\uacbd\ub7c9 \ud0d1\uc7ac\uccb4, \uc18c\ud615 \uc554). J2: EP-FADS P0 047mm. J3: EP-FADS P0 042mm. J4: EP-FADS P0 042mm. NYOGEL 792D ISO Class 5. \uc77c\ubc18\uc801\uc778 \uc2e4\ud5d8\uc2e4 \ud658\uacbd\uc5d0\uc11c\ub294 IP69K \ub4f1\uae09\uc774 \ud544\uc694\ud558\uc9c0 \uc54a\uc2b5\ub2c8\ub2e4 (\ucd5c\uc18c IP54 \ub4f1\uae09\uc774\uba74 \ucda9\ubd84\ud558\uba70, \uc548\uc804 \uc5ec\uc720\ub97c \uc704\ud574 IP65 \ub4f1\uae09\uc744 \uad8c\uc7a5\ud569\ub2c8\ub2e4).<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n

<\/p>\n

\n
\n

\ub514\uc790\uc778 \uc120\ud0dd<\/span><\/p>\n

SCARA \ub85c\ubd07\uacfc \u200b\u200b6\ucd95 \ub85c\ubd07 \ube44\uad50 - \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc591 \uc0b0\uc815 \ubc29\uc2dd\uc758 \ubcc0\ud654<\/h2>\n
\n
\"\ud55c\uad6d<\/p>\n
\n
SCARA\uc640 6\ucd95 \uc601\uc0c1 \ucd2c\uc601 \uc911 \uc5b4\ub5a4 \uac83\uc744 \uc120\ud0dd\ud574\uc57c \ud560\uae4c\uc694?<\/div>\n
\n
\uc2a4\uce74\ub77c:<\/span>
\n\uace0\uc815\ub41c Z\ucd95 \uc2a4\ud2b8\ub85c\ud06c \ubc94\uc704 \ub0b4\uc5d0\uc11c \uace0\uc18d \uc218\ud3c9 \ud53d\uc564\ud50c\ub808\uc774\uc2a4<\/span><\/div>\n
\uc2a4\uce74\ub77c:<\/span>
\n\uc0ac\uc774\ud074 \ud0c0\uc784 1\ucd08 \ubbf8\ub9cc \ud544\uc218; \uc124\uce58 \uacf5\uac04 \ucd5c\uc18c\ud654<\/span><\/div>\n
\uc2a4\uce74\ub77c:<\/span>
\n\uc801\uc6a9 \ubc94\uc704\ub294 \uc218\ud3c9\uba74 \u00b150\u2013200mm Z\ub85c \uc81c\ud55c\ub429\ub2c8\ub2e4.<\/span><\/div>\n
6\ucd95:<\/span>
\n\uc784\uc758\uc758 3D \uacbd\ub85c; \uc7a5\uc560\ubb3c \uc6b0\ud68c; \uae30\uc6b8\uc5b4\uc9c4 \ud45c\uba74<\/span><\/div>\n
6\ucd95:<\/span>
\n\uc6a9\uc811, \ub3c4\uc7a5, \ubcf5\uc7a1\ud55c \ud615\ud0dc\uc758 \uc911\uc7a5\ube44 \uc870\ub9bd<\/span><\/div>\n<\/div>\n<\/div>\n<\/div>\n

SCARA \ub85c\ubd07\uacfc \u200b\u200b6\ucd95 \ub85c\ubd07\uc758 \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc591 \uc0b0\uc815 \ubc29\uc2dd\uc740 \ud06c\uac8c \ub2e4\ub974\uc9c0\ub9cc, \uae30\ubcf8 \ub9e4\uac1c\ubcc0\uc218\ub294 \ub3d9\uc77c\ud569\ub2c8\ub2e4. \ucc28\uc774\uc810\uc740 \uc774\ub7ec\ud55c \ub9e4\uac1c\ubcc0\uc218\ub97c \uc801\uc6a9\ud558\ub294 \ubc29\uc2dd\uc5d0 \uc788\uc2b5\ub2c8\ub2e4. 6\ucd95 \ub85c\ubd07\uc5d0\uc11c\ub294 \uad6c\uc131\uc5d0 \ub530\ub77c \ud558\uc911\uc774 \ubcc0\ub3d9\ud558\uae30 \ub54c\ubb38\uc5d0 \uc804\uccb4 \uc6b4\ub3d9\ud559\uc801 \uc2dc\ubbac\ub808\uc774\uc158 \uc5c6\uc774\ub294 \uc5b4\ub5a4 \uad00\uc808\uc758 \uac15\uc131\uc744 \uc644\ud654\ud560 \uc218 \uc788\ub294\uc9c0 \uacc4\uc0b0\ud558\uae30 \uc5b4\ub824\uc6cc \uac01 \uad00\uc808\uc758 \uac15\uc131 \ub4f1\uae09\uc744 \uc77c\ubc18\uc801\uc73c\ub85c \uade0\uc77c\ud558\uac8c \uc9c0\uc815\ud569\ub2c8\ub2e4(\uc815\ubc00 \ub85c\ubd07\uc758 \uacbd\uc6b0 P0 \ub4f1\uae09 \uc804\uccb4 \uc801\uc6a9). SCARA \ub85c\ubd07\uc5d0\uc11c\ub294 \ub2e8\uc21c\ud55c 2\ub9c1\ud06c \ud3c9\uba74 \uad6c\uc870 \ub355\ubd84\uc5d0 \uc704 2\uc808\uc5d0\uc11c \uc124\uba85\ud55c \uac83\ucc98\ub7fc \uc815\ud655\ud55c \uacc4\uc0b0\uc774 \uac00\ub2a5\ud558\uba70, \uc774\ub97c \ud1b5\ud574 TCP \uc815\ud655\ub3c4 \uc608\uc0b0\uc744 \uc704\ubc18\ud558\uc9c0 \uc54a\uace0 J2 \uad00\uc808\uc758 \uac15\uc131\uc744 J1 \uad00\uc808\ubcf4\ub2e4 \ud55c \ub2e8\uacc4 \ub0ae\ucd9c \uc218 \uc788\uc74c\uc744 \uc54c \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774\ub294 \ub3d9\uc77c\ud55c \ubd84\uc11d\uc801 \uc815\ud655\uc131\uc774 \uc694\uad6c\ub418\ub294 6\ucd95 \ub85c\ubd07\uc5d0\uc11c\ub294 \ubd88\uac00\ub2a5\ud55c \ube44\uc6a9 \uc808\uac10 \ud6a8\uacfc\uc785\ub2c8\ub2e4.<\/p>\n

\uc791\ub3d9 \uc8fc\uae30 \uc218\uba85 \uacc4\uc0b0 \ubc29\uc2dd\uc5d0\uc11c\ub3c4 \uac15\uc870\uc810\uc774 \ub2e4\ub985\ub2c8\ub2e4. 6\ucd95 \uc6a9\uc811 \ub85c\ubd07\uc740 \ube44\uad50\uc801 \ub290\ub9b0 \uc18d\ub3c4\ub85c \uc5f0\uc18d \uc6a9\uc811 \uc791\uc5c5\uc744 \uc218\ud589\ud558\uba70, \uc791\ub3d9 \uc8fc\uae30\ub294 \uc911\uac04 \ud1a0\ud06c\uc5d0\uc11c \ub300\ub7b5 S1\uc785\ub2c8\ub2e4. \ubc18\uba74 SCARA \ud53d\uc564\ud50c\ub808\uc774\uc2a4 \ub85c\ubd07\uc740 \ubd84\ub2f9 30~80\ud68c\uc758 \ub9e4\uc6b0 \ube60\ub978 \uc18d\ub3c4\ub85c \uc9e7\uc740 \uc0ac\uc774\ud074 \uc791\uc5c5\uc744 \uc218\ud589\ud558\uba70, \uac01 \uc0ac\uc774\ud074\uc740 J1\uacfc J2 \uad6c\uac04\uc5d0\uc11c \uac00\uc18d, \uc720\uc9c0, \uac10\uc18d\uc744 \ud3ec\ud568\ud569\ub2c8\ub2e4. \ub530\ub77c\uc11c \uc0ac\uc774\ud074 \uc218\ub294 \ub9ce\uc9c0\ub9cc \uac00\ub3d9 \uc2dc\uac04\uc740 \ub9e4\uc6b0 \uc9e7\uc2b5\ub2c8\ub2e4(\uac01 \ub3d9\uc791\uc740 1~2\ucd08 \uc0ac\uc774\ud074 \uc911 0.2~0.5\ucd08\ub97c \uc18c\uc694). \uc11c\ube44\uc2a4 \uc218\uba85 \uac00\uc774\ub4dc\uc758 S5 \uc791\ub3d9 \uc8fc\uae30 \uacc4\uc0b0 \ubc29\uc2dd\uc774 \uadf8\ub300\ub85c \uc801\uc6a9\ub418\uba70, SCARA \ud53d\uc740 \uc815\uaca9 \ud1a0\ud06c 20~40%(\uace0\uc18d\uc73c\ub85c \uac00\ubcbc\uc6b4 \ud398\uc774\ub85c\ub4dc\ub97c \uc6b4\ubc18)\uc5d0\uc11c \uc791\ub3d9\ud558\uae30 \ub54c\ubb38\uc5d0 \uc2e4\uc81c \uc791\ub3d9 \ud1a0\ud06c\uc5d0\uc11c\uc758 L10 \uc218\uba85\uc740 \uc218\uc2ed \ub144\uc5d0 \uc774\ub97c \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc2e4\uc9c8\uc801\uc778 \uacb0\ub860\uc740 \ub300\ubd80\ubd84\uc758 SCARA \ud53d\uc564\ud50c\ub808\uc774\uc2a4 \uc560\ud50c\ub9ac\ucf00\uc774\uc158\uc5d0\uc11c \ud55c\uad6d Ever-Power EP-FAD P0\uc744 \uc0ac\uc6a9\ud560 \uacbd\uc6b0, \ubd84\ub2f9 60\ud68c \uc774\uc0c1\uc758 \uc0ac\uc774\ud074 \uc18d\ub3c4\uc5d0\uc11c\ub3c4 \uc11c\ube44\uc2a4 \uc218\uba85\uc740 \uc124\uacc4\uc758 \uc81c\ud55c \uc694\uc18c\uac00 \uc544\ub2c8\ub77c\ub294 \uac83\uc785\ub2c8\ub2e4.<\/p>\n

\n
\ud83d\udccb<\/div>\n
\n
SCARA \ubcc0\uc18d\uae30 \uc120\ud0dd \uccb4\ud06c\ub9ac\uc2a4\ud2b8<\/div>\n
SCARA \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc591\uc744 \uc815\ud558\uae30 \uc804\uc5d0 \ub2e4\uc74c \uc0ac\ud56d\uc744 \ud655\uc778\ud558\uc2ed\uc2dc\uc624. (1) TCP \uc815\ud655\ub3c4 \uc694\uad6c \uc0ac\ud56d \u2192 \u03b4_J1 = (\u03b8_J1_eff \/ 3438) \u00d7 (R1+R2) \u2264 0.7 \u00d7 TCP_budget \uacf5\uc2dd\uc744 \uc0ac\uc6a9\ud558\uc5ec \ud544\uc694\ud55c J1 \ub4f1\uae09\uc744 \uacc4\uc0b0\ud569\ub2c8\ub2e4. (2) J2 \ub4f1\uae09 \u2192 RSS \uacc4\uc0b0\uc744 \ud1b5\ud574 P1 \ub4f1\uae09\uc774 \uc801\uc6a9 \uac00\ub2a5\ud55c\uc9c0 \ud655\uc778\ud569\ub2c8\ub2e4. (3) J3 Z\ucd95 \uc815\ud655\ub3c4 \u2192 \ubcfc\uc2a4\ud06c\ub958 \ud53c\uce58\ub97c \ud655\uc778\ud558\uace0 \uae30\uc5b4\ubc15\uc2a4 \ubc31\ub798\uc2dc\uac00 \ubcfc\uc2a4\ud06c\ub958 \uc608\uc555 \uc815\ud655\ub3c4\uc5d0 \ube44\ud574 \ubb34\uc2dc\ud560 \uc218 \uc788\uc744 \uc815\ub3c4\ub85c \uc791\uc740\uc9c0 \ud655\uc778\ud569\ub2c8\ub2e4. (4) J4 \ub4f1\uae09 \u2192 \ubd84\ubc30\/\uc0bd\uc785 \uac01\ub3c4 \uc815\ud655\ub3c4\ub294 P0, \uc77c\ubc18\uc801\uc778 \ud53d\uc564\ud50c\ub808\uc774\uc2a4 \uc791\uc5c5\uc740 P1 \ub4f1\uae09\uc744 \uc0ac\uc6a9\ud569\ub2c8\ub2e4. (5) \uc0ac\uc774\ud074 \uc218 \u2192 \uc5f0\uac04 \ud53d\ud0b9 \ud69f\uc218\ub97c \uacc4\uc0b0\ud558\uace0 \uc2e4\uc81c \uc791\ub3d9 \ud1a0\ud06c\uc5d0\uc11c S5 L10 \uc218\uba85\uc744 \ud655\uc778\ud569\ub2c8\ub2e4. (6) \ud658\uacbd \u2192 \uc2dd\ud488 \uad6c\uc5ed? IP69K? H1 \uc724\ud65c\uc720? \ud074\ub9b0\ub8f8? \uc704\uc0dd \uad6c\uc5ed \uc9c0\uce68\uc5d0 \ub530\ub77c \ud655\uc778\ud569\ub2c8\ub2e4. (7) \ud504\ub808\uc784 \ud06c\uae30 \u2192 \ud1a0\ud06c \u00d7 \uc548\uc804 \uacc4\uc218 1.5\ub97c \uc0ac\uc6a9\ud558\uc5ec \ud504\ub808\uc784\uc744 \uc120\ud0dd\ud569\ub2c8\ub2e4. \ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc\ub294 \ud398\uc774\ub85c\ub4dc, \uc554 \uae38\uc774, TCP \uc0ac\uc591, \uc0ac\uc774\ud074 \uc18d\ub3c4 \ubc0f \ud658\uacbd\uc744 \uc81c\uacf5\ud558\uba74 7\uac00\uc9c0 \ub9e4\uac1c\ubcc0\uc218\ub97c \ubaa8\ub450 \ud655\uc778\ud569\ub2c8\ub2e4.<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n

<\/p>\n

\n
\n

\uad00\ub828 EP \uc2dc\ub9ac\uc988 \ubc0f \uae30\uc220 \uac00\uc774\ub4dc<\/h3>\n
\n
\"\ud55c\uad6d<\/div>\n

\ub458\ub7ec\ubcf4\uae30 EP \uc804\uccb4 \uce74\ud0c8\ub85c\uadf8<\/a>\uad00\ub828 \uac00\uc774\ub4dc: \uc0b0\uc5c5\uc6a9 \ub85c\ubd07(6\ucd95), \uc758\ub8cc \ubc0f \uc2e4\ud5d8\uc2e4(\ud074\ub9b0\ub8f8), \uc2dd\ud488 \ubc0f \uc74c\ub8cc(\uc704\uc0dd \uad6c\uc5ed), \ube44\ud2c0\ub9bc \uac15\uc131(Ct \uacc4\uc0b0) (\ubcf8 \uc0ac\uc774\ud2b8 \ucc38\uc870). \uc678\ubd80 \uc790\ub8cc: cvjointdriveshaft.com<\/a>.<\/p>\n<\/div>\n

SCARA \ub85c\ubd07 \uae30\uc5b4\ubc15\uc2a4 \uad00\ub828 \uc790\uc8fc \ubb3b\ub294 \uc9c8\ubb38<\/h3>\n
\nJ3\uc640 J4 \ubaa8\ub450\uc5d0 \ub3d9\uc77c\ud55c EP-FADS \ud504\ub808\uc784 \ud06c\uae30\ub97c \uc0ac\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\uae4c?+<\/span><\/summary>\n
\ub300\ubd80\ubd84\uc758 \uacbd\uc6b0 \uadf8\ub807\uc2b5\ub2c8\ub2e4. J3\uc640 J4\ub294 \ud45c\uc900 3~5kg \ud398\uc774\ub85c\ub4dc\uc758 SCARA\uc5d0 \ub3d9\uc77c\ud55c EP-FADS \ud504\ub808\uc784 \ud06c\uae30\ub97c \uc0ac\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ub450 \uc870\uc778\ud2b8 \ubaa8\ub450 \uc0c1\ub300\uc801\uc73c\ub85c \ub0ae\uc740 \ud1a0\ud06c \uc694\uad6c\ub7c9\uc744 \uac00\uc9c0\uae30 \ub54c\ubb38\uc785\ub2c8\ub2e4 (J3\ub294 \ubcfc\uc2a4\ud06c\ub958\ub97c \uad6c\ub3d9\ud558\uace0, J4\ub294 \uacf5\uad6c\ub9cc \ud68c\uc804\uc2dc\ud0b5\ub2c8\ub2e4). 0.47mm EP-FADS \ud504\ub808\uc784\uc740 \ub9ce\uc740 SCARA \uc124\uacc4\uc5d0\uc11c J3\uc640 J4 \ubaa8\ub450\uc5d0 \uc801\ud569\ud569\ub2c8\ub2e4. \uc8fc\uc694 \ucc28\uc774\uc810\uc740 \uae30\uc5b4\ube44\uc785\ub2c8\ub2e4. J3\ub294 \uc77c\ubc18\uc801\uc73c\ub85c Z\ucd95 \uc2a4\ud2b8\ub85c\ud06c \uc18d\ub3c4\uc5d0 \uc801\ud569\ud55c \ubaa8\ud130 \uc18d\ub3c4\ub97c \uc81c\uacf5\ud558\uae30 \uc704\ud574 \ub0ae\uc740 \uae30\uc5b4\ube44(i=5)\ub97c \uc0ac\uc6a9\ud569\ub2c8\ub2e4. J4\ub294 \uacf5\uad6c \ubc29\ud5a5 \ud574\uc0c1\ub3c4 \ubc0f \ud1a0\ud06c \uc99d\ud3ed\uc744 \uc704\ud574 \ub354 \ub192\uc740 \uae30\uc5b4\ube44(i=8~16)\ub97c \uc0ac\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. C1-C10 \uc5b4\ub311\ud130 \uc2dc\uc2a4\ud15c\uc744 \ud1b5\ud574 \ub450 \uc870\uc778\ud2b8 \ubaa8\ub450 \ub3d9\uc77c\ud55c \ubaa8\ud130 \ubaa8\ub378\uc744 \uc0ac\uc6a9\ud560 \uc218 \uc788\uc73c\ubbc0\ub85c \uc7ac\ub8cc \ud6a8\uc728\uc131\uc744 \ud655\uc778\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. J3\uc5d0 \uc0c1\ub2f9\ud55c \uc555\uc785\ub825\uc774 \ud544\uc694\ud55c \uace0\uc911\ub7c9 SCARA\uc758 \uacbd\uc6b0 0.47mm \ud504\ub808\uc784\uc774 J3\uc5d0 \uc801\ud569\ud558\uc9c0 \uc54a\uc744 \uc218 \uc788\uc73c\ubbc0\ub85c 0.60mm \ud504\ub808\uc784\uc744 \ud655\uc778\ud574\uc57c \ud569\ub2c8\ub2e4. \ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc\uc758 \uc120\ud0dd \ub3c4\uad6c\ub97c \uc0ac\uc6a9\ud558\uc5ec \ud2b9\uc815 \uc0bd\uc785\ub825 \ubc0f Z\ucd95 \uc2a4\ud2b8\ub85c\ud06c \uc18d\ub3c4 \uc694\uad6c \uc0ac\ud56d\uc5d0 \ub9de\ub294 \ud504\ub808\uc784\uc744 \ud655\uc778\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/div>\n<\/details>\n
\nSCARA J3 \ubc0f J4\uc5d0\uc11c EP-FAD\ubcf4\ub2e4 EP-FADS\uac00 \uc120\ud638\ub418\ub294 \uc774\uc720\ub294 \ubb34\uc5c7\uc785\ub2c8\uae4c?+<\/span><\/summary>\n
\uc138 \uac00\uc9c0 \uc774\uc720\uac00 \uc788\uc2b5\ub2c8\ub2e4. \uccab\uc9f8, EP-FADS\ub294 \ubaa8\ud130\uc640 \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc774\uc5d0 \uc5b4\ub311\ud130 \ud50c\ub808\uc774\ud2b8\uc640 \uc678\ubd80 \ud074\ub7a8\ud504 \ub9c1\uc744 \uc81c\uac70\ud558\uc5ec \ucd95 \ubc29\ud5a5 \uae38\uc774\ub97c 22mm \uc904\uc785\ub2c8\ub2e4. J3\uc640 J4\uac00 \ucd95 \ubc29\ud5a5\uc73c\ub85c \uc801\uce35\ub418\ub294 \uc18c\ud615 SCARA \uc190\ubaa9 \uc5b4\uc148\ube14\ub9ac\uc5d0\uc11c \uae30\uc5b4\ubc15\uc2a4\ub2f9 22mm\uc758 \uae38\uc774 \uc808\uac10\uc740 \uc190\ubaa9 \uc5b4\uc148\ube14\ub9ac \ub0b4\ubd80\uc5d0 \uc7a5\ucc29\ud558\ub294 \ub370 \ub9e4\uc6b0 \uc911\uc694\ud569\ub2c8\ub2e4. \ub458\uc9f8, EP-FADS\ub294 \uae30\uc874 EP-FAD \uc5b4\uc148\ube14\ub9ac\uc5d0 \uc874\uc7ac\ud558\ub294 \uc5b4\ub311\ud130 \ud50c\ub808\uc774\ud2b8 \uc778\ud130\ud398\uc774\uc2a4\uc758 \uc791\uc740 \ud2c8\uc0c8\ub97c \uc81c\uac70\ud569\ub2c8\ub2e4. \ud074\ub9b0\ub8f8 \ubc0f GMP \ud658\uacbd\uc5d0\uc11c \uc785\uc790\ub098 \uc724\ud65c\uc720\uac00 \ub07c\uc77c \uc218 \uc788\ub294 \ud2c8\uc0c8\ub294 EHEDG \ubc0f GMP \uc9c0\uce68\uc5d0 \ub530\ub77c \uc124\uacc4 \uacb0\ud568\uc73c\ub85c \uac04\uc8fc\ub429\ub2c8\ub2e4. \uc14b\uc9f8, EP-FADS\uc758 \uc9c1\uc811 \uc0bd\uc785 \uc0e4\ud504\ud2b8 \ucee4\ud50c\ub9c1\uc740 \ub2e4\uc911 \uad6c\uc131 \uc694\uc18c \uc5b4\ub311\ud130 \uc2dc\uc2a4\ud15c\ubcf4\ub2e4 \ubaa8\ud130-\uae30\uc5b4\ubc15\uc2a4 \uc778\ud130\ud398\uc774\uc2a4\uc5d0\uc11c \uc57d\uac04 \ub354 \uc6b0\uc218\ud55c \ub3d9\uc2ec\ub3c4\ub97c \uc81c\uacf5\ud569\ub2c8\ub2e4. \uc774\ub294 J4 \ud234 \ud68c\uc804\uc774 \uc791\ub3d9\ud558\ub294 \ub9e4\uc6b0 \ub192\uc740 \uc785\ub825 \uc18d\ub3c4(\ucd5c\ub300 10,000rpm)\uc5d0 \uc720\ub9ac\ud569\ub2c8\ub2e4. \uc62c\ubc14\ub978 C \ucf54\ub4dc \uc5b4\ub311\ud130\ub97c \uc0ac\uc6a9\ud558\ub294 EP-FAD\ub294 \ucd95 \ubc29\ud5a5 \uacf5\uac04\uc5d0 \uc81c\uc57d\uc774 \uc5c6\ub294 J3 \ubc0f J4\uc5d0 \uc644\uc804\ud788 \uc801\ud569\ud569\ub2c8\ub2e4. FADS\ub294 \uc190\ubaa9 \ubd80\ubd84\uc758 \uacf5\uac04\uc774 \ud611\uc18c\ud558\uac70\ub098 \ud2c8\uc0c8 \uc81c\uac70\uac00 \uc0ac\uc591 \uc694\uad6c \uc0ac\ud56d\uc778 \uacbd\uc6b0\uc5d0\ub9cc \uc120\ud638\ub429\ub2c8\ub2e4.<\/div>\n<\/details>\n
\nSCARA \ub808\uc774\uc800\uc758 Z\ucd95 \uc815\ud655\ub3c4\ub294 \uae30\uc5b4\ubc15\uc2a4\uc5d0 \uc758\ud574 \ub354 \ub9ce\uc774 \uacb0\uc815\ub420\uae4c\uc694, \uc544\ub2c8\uba74 \ubcfc\uc2a4\ud06c\ub958\uc5d0 \uc758\ud574 \ub354 \ub9ce\uc774 \uacb0\uc815\ub420\uae4c\uc694?+<\/span><\/summary>\n
\uc8fc\ub85c \ubcfc\uc2a4\ud06c\ub958\uac00 Z\ucd95 \ubc31\ub798\uc2dc\uc5d0 \uc601\ud5a5\uc744 \ubbf8\uce58\uba70, \uae30\uc5b4\ubc15\uc2a4\ub3c4 \uc791\uc9c0\ub9cc \uacc4\uc0b0 \uac00\ub2a5\ud55c \uc601\ud5a5\uc744 \uc90d\ub2c8\ub2e4. 5mm \ud53c\uce58\uc758 \ubcfc\uc2a4\ud06c\ub958\uc640 EP-FADS P0(0.78 arc-min \ubc31\ub798\uc2dc)\uc744 \uc0ac\uc6a9\ud558\ub294 \uacbd\uc6b0, \uae30\uc5b4\ubc15\uc2a4\uac00 Z\ucd95 \ubc31\ub798\uc2dc\uc5d0 \ubbf8\uce58\ub294 \uc601\ud5a5\uc740 (0.78\/3438) \u00d7 5mm = 0.0011mm\uc785\ub2c8\ub2e4. \uace0\ud488\uc9c8 C5 \ub4f1\uae09\uc758 \ud504\ub9ac\ub85c\ub4dc \ubcfc\uc2a4\ud06c\ub958\ub294 \uc77c\ubc18\uc801\uc73c\ub85c 0.01~0.02mm\uc758 \uc120\ud615 \ubc31\ub798\uc2dc\ub97c \uac00\uc9c0\ub294\ub370, \uc774\ub294 \uae30\uc5b4\ubc15\uc2a4\uac00 \ubbf8\uce58\ub294 \uc601\ud5a5\ubcf4\ub2e4 10~20\ubc30 \ub354 \ud07d\ub2c8\ub2e4. \ub530\ub77c\uc11c \uae30\uc5b4\ubc15\uc2a4 \ubc31\ub798\uc2dc\ub294 \ubcfc\uc2a4\ud06c\ub958 \uc790\uccb4\uc758 \uc704\uce58 \uc624\ucc28\uc5d0 \ube44\ud574 \ubb34\uc2dc\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. 0.01mm \ubbf8\ub9cc\uc758 Z\ucd95 \uc815\ud655\ub3c4(C3 \ub4f1\uae09\uc758 \ud504\ub9ac\ub85c\ub4dc \ubcfc\uc2a4\ud06c\ub958 \ud544\uc694)\ub97c \uc704\ud574\uc11c\ub294 0.001mm\uc758 \uae30\uc5b4\ubc15\uc2a4 \ubc31\ub798\uc2dc \uc601\ud5a5\uc740 \uc5ec\uc804\ud788 \u200b\u200b\ubb34\uc2dc\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ub530\ub77c\uc11c SCARA J3 Z\ucd95 \uc815\ud655\ub3c4 \uaddc\uaca9\uc5d0\uc11c\ub294 \uae30\uc5b4\ubc15\uc2a4 \ub4f1\uae09\uc774 \uc544\ub2cc \ubcfc\uc2a4\ud06c\ub958 \uaddc\uaca9(\ub9ac\ub4dc \uc815\ud655\ub3c4 \ub4f1\uae09, \ud504\ub9ac\ub85c\ub4dc \ub4f1\uae09)\uc774 Z\ucd95 \uc704\uce58 \uc815\ud655\ub3c4\ub97c \uacb0\uc815\ud569\ub2c8\ub2e4. EP-FADS P0\ub294 \ubaa8\ub4e0 \uc2e4\uc81c SCARA Z\ucd95 \uc815\ubc00\ub3c4 \uc694\uad6c \uc0ac\ud56d\uc5d0 \ucda9\ubd84\ud55c \uae30\uc5b4\ubc15\uc2a4 \uc131\ub2a5\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4. J3\uc758 \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc591\uc740 \ubc31\ub798\uc2dc \ub4f1\uae09\uc774 \uc544\ub2cc \ud1a0\ud06c \uc6a9\ub7c9\uacfc \uc18d\ub3c4\uc5d0 \ub530\ub77c \uacb0\uc815\ub429\ub2c8\ub2e4. \ucc38\uace0\ub85c, \uc774\uc911 \ub108\ud2b8 \uc608\uc555(\ucd95 \ubc29\ud5a5 \ubc31\ub798\uc2dc \uc81c\uac70)\uc774 \uc801\uc6a9\ub41c C5 \uc555\uc5f0 \ubcfc\uc2a4\ud06c\ub958(\ud45c\uc900 \uc815\ubc00\ub3c4, \u00b10.023mm\/300mm \ub9ac\ub4dc \uc815\ubc00\ub3c4)\ub294 \uc57d 0.015~0.020mm\uc758 Z\ucd95 \uc704\uce58 \ubc18\ubcf5 \uc815\ubc00\ub3c4\ub97c \uc81c\uacf5\ud569\ub2c8\ub2e4. \uc608\uc555\uc774 \uc801\uc6a9\ub41c C3 \uc5f0\uc0ad \ubcfc\uc2a4\ud06c\ub958(\uc815\ubc00\ub3c4, \u00b10.008mm\/300mm)\ub294 0.005~0.008mm\uc758 Z\ucd95 \ubc18\ubcf5 \uc815\ubc00\ub3c4\ub97c \uc81c\uacf5\ud569\ub2c8\ub2e4. \ub450 \uacbd\uc6b0 \ubaa8\ub450 EP-FADS P0 \uae30\uc5b4\ubc15\uc2a4\uc758 \uc601\ud5a5(0.0011mm)\uc740 \ubb34\uc2dc\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. Z\ucd95 \uc2a4\ud2b8\ub85c\ud06c\uac00 \ub9e4\uc6b0 \uc9e7\uace0(20mm \ubbf8\ub9cc) \uae4a\uc774 \uc694\uad6c \uc0ac\ud56d\uc774 \uadf9\ud788 \uc5c4\uaca9\ud55c \uacbd\uc6b0(0.002mm \ubbf8\ub9cc)\uc5d0\ub9cc \uae30\uc5b4\ubc15\uc2a4\uc758 \uc5ed\ud560\uc774 \uc911\uc694\ud574\uc9c0\uba70, \uc774 \uacbd\uc6b0 \uc801\uc808\ud55c \uc0ac\uc591 \uc5c5\uadf8\ub808\uc774\ub4dc\ub294 \uae30\uc5b4\ubc15\uc2a4\uc640 \ubcfc\uc2a4\ud06c\ub958 \uc870\ud569\uc774 \uc544\ub2cc \uc9c1\uc811 \uad6c\ub3d9 \ubc29\uc2dd\uc758 Z\ucd95\uc73c\ub85c \ubcc0\uacbd\ud558\ub294 \uac83\uc785\ub2c8\ub2e4.<\/div>\n<\/details>\n
\nSCARA \ubc31\ub798\uc2dc\ub294 \uc2dc\uac04\uc774 \uc9c0\ub0a8\uc5d0 \ub530\ub77c \uc5b4\ub5bb\uac8c \uc99d\uac00\ud558\uba70, \ubcc0\uc18d\uae30\ub294 \uc5b8\uc81c \uad50\uccb4\ud574\uc57c \ud560\uae4c\uc694?+<\/span><\/summary>\n
SCARA \ubc31\ub798\uc2dc\ub294 6\ucd95 \ub85c\ubd07\uacfc \ub3d9\uc77c\ud55c \uba54\ucee4\ub2c8\uc998\uc73c\ub85c \uc99d\uac00\ud569\ub2c8\ub2e4. \ucd9c\ub825 \ubca0\uc5b4\ub9c1\uc758 \ub9c8\ubaa8\ub85c \uc778\ud574 \ubca0\uc5b4\ub9c1 \uac04\uadf9\uc774 \uc810\uc9c4\uc801\uc73c\ub85c \uc99d\uac00\ud558\uace0, \uc774\ub294 2% \uc815\uaca9 \ud1a0\ud06c \ud14c\uc2a4\ud2b8 \uc870\uac74\uc5d0\uc11c \uce21\uc815\ub41c \ubc31\ub798\uc2dc\uc758 \ubbf8\ubbf8\ud55c \uc99d\uac00\ub85c \ub098\ud0c0\ub0a9\ub2c8\ub2e4. EP-FAD P0 \uc7a5\uce58\ub294 \uba85\ud310\uc5d0 \uce21\uc815\ub41c \ubc31\ub798\uc2dc \uac12(\uc608: 0.78 arc-min)\uc774 \uac01\uc778\ub418\uc5b4 \ucd9c\uace0\ub418\ubbc0\ub85c, \uc720\uc9c0\ubcf4\uc218\ud300\uc740 \uac01 \uc870\uc778\ud2b8\uc5d0 \ub300\ud55c \uc815\ud655\ud55c \ucd08\uae30\uac12\uc744 \ud655\uc778\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc815\uae30 \uc720\uc9c0\ubcf4\uc218 \uc8fc\uae30(\ub9e4\ub144 \ub610\ub294 500\ub9cc \uc0ac\uc774\ud074\ub9c8\ub2e4)\ub9c8\ub2e4 \ud604\uc7ac \ubc31\ub798\uc2dc\ub97c \uce21\uc815\ud558\uace0 \uba85\ud310 \uac12\uacfc \ube44\uad50\ud558\uc5ec \ub204\uc801 \ub9c8\ubaa8\ub7c9\uc744 \ud30c\uc545\ud569\ub2c8\ub2e4. \u00b10.05mm TCP \uc0ac\uc591\uc744 \uac00\uc9c4 SCARA J1\uc758 \uacbd\uc6b0, \ucd5c\ub300 \ud5c8\uc6a9 \ubc31\ub798\uc2dc(\ubcf4\uc815 \ud6c4)\ub294 \uc57d 0.87 arc-min\uc785\ub2c8\ub2e4(TCP \uc608\uc0b0\uc5d0\uc11c \uc5ed\uc0b0). \uce21\uc815\ub41c \ubc31\ub798\uc2dc\uac00 0.87 arc-min\uc5d0 \ub3c4\ub2ec\ud558\uba74 \ub2e4\uc74c \uc720\uc9c0\ubcf4\uc218 \uc2dc\uc810\uc5d0 \uae30\uc5b4\ubc15\uc2a4 \uad50\uccb4\ub97c \uacc4\ud68d\ud574\uc57c \ud569\ub2c8\ub2e4. \ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc\uc758 \uc720\ub2db\ubcc4 \uba85\ud310 \uac01\uc778 \uae30\uc220\uc744 \ud1b5\ud574 \uad6c\ud604\ub41c \uc774 \uc0c1\ud0dc \uae30\ubc18 \uad50\uccb4 \uc804\ub7b5\uc740 \uae30\uc5b4\ubc15\uc2a4\uc758 \uc794\uc5ec \uc218\uba85\uc744 \ub0ad\ube44\ud558\ub294 \uc870\uae30 \uad50\uccb4\uc640 \ub2e4\uc74c \uc815\ube44 \ubc29\ubb38 \uc804\uc5d0 TCP \uc815\ud655\ub3c4\uac00 \uc0ac\uc591 \uc774\ud558\ub85c \uc800\ud558\ub418\ub294 \uac83\uc744 \ubc29\uc9c0\ud558\ub294 \uc9c0\uc5f0 \uad50\uccb4\ub97c \ubaa8\ub450 \ub9c9\uc544\uc90d\ub2c8\ub2e4. TCP \uc815\ud655\ub3c4 \ubd88\ub7c9\uc73c\ub85c \uc0dd\uc0b0 \ub77c\uc778\uc774 \uc911\ub2e8\ub418\ub294 \uace0\ud6a8\uc728 \uc804\uc790 \uc870\ub9bd \ub77c\uc778\uc758 SCARA \ub85c\ubd07\uc758 \uacbd\uc6b0, \uc774\ub7ec\ud55c \uc608\uce21 \uc815\ube44 \uae30\ub2a5\uc740 \uc0c1\ub2f9\ud55c \uc6b4\uc601\uc0c1\uc758 \uc774\uc810\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4.<\/p>\n

\ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc\uc758 \uba85\ud310 \uc2a4\ud0ec\ud551\uc744 \ud1b5\ud574 \uad6c\ud604\ub418\ub294 \uc608\uce21 \uc720\uc9c0\ubcf4\uc218 \ubc29\uc2dd\uc740 \uc608\ube44 \ubd80\ud488 \uc7ac\uace0 \uad00\ub9ac\uc5d0\ub3c4 \uc911\uc694\ud55c \uc758\ubbf8\ub97c \uac16\uc2b5\ub2c8\ub2e4. TCP \uc624\ucc28 \uc608\uc0b0\uc774 \uba85\ud310\uc5d0\uc11c \uce21\uc815\ub41c \ubc31\ub798\uc2dc \uac12\uc5d0 \ub530\ub77c \uc815\ud655\ud558\uac8c \uacc4\uc0b0\ub418\uae30 \ub54c\ubb38\uc5d0, \uc720\uc9c0\ubcf4\uc218\ud300\uc740 \uacc4\ud68d\uc801\uc778 \uad50\uccb4 \uc77c\uc815\uc744 \uc720\uc9c0\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc608\ub97c \ub4e4\uc5b4, \uae30\uc5b4\ubc15\uc2a4\uc758 \ucd08\uae30 \ubc31\ub798\uc2dc\uac00 0.78 arc-min\uc774\uace0 TCP \uc608\uc0b0\uc774 \ucd5c\ub300 0.87 arc-min\uae4c\uc9c0 \ud5c8\uc6a9\ub41c\ub2e4\uba74, \uce21\uc815\ub41c \ubc31\ub798\uc2dc\uac00 \uc57d 0.85 arc-min\uc5d0 \ub3c4\ub2ec\ud588\uc744 \ub54c \uae30\uc5b4\ubc15\uc2a4\ub97c \uad50\uccb4\ud574\uc57c \ud558\uba70, \uc774\ub294 2%\uc758 \uc548\uc804 \uc5ec\uc720\ub97c \ud655\ubcf4\ud558\ub294 \uac83\uc785\ub2c8\ub2e4. \uc77c\ubc18\uc801\uc778 SCARA \ub4c0\ud2f0 \uc0ac\uc774\ud074\uacfc \uc791\ub3d9 \ud1a0\ud06c \uc870\uac74\uc5d0\uc11c, \uc774\ub7ec\ud55c \ubc31\ub798\uc2dc \uc99d\uac00\ub294 3~7\ub144\uc758 \uc0dd\uc0b0 \uae30\uac04 \ub3d9\uc548 \uc608\uce21 \uac00\ub2a5\ud558\uac8c \ubc1c\uc0dd\ud558\ubbc0\ub85c, \uc720\uc9c0\ubcf4\uc218\ud300\uc740 \uae34\uae09 \ubc30\uc1a1 \ud560\uc99d\ub8cc \uc5c6\uc774 \uad50\uccb4\ud488\uc744 \uc8fc\ubb38\ud560 \uc218 \uc788\ub294 \ucda9\ubd84\ud55c \ub9ac\ub4dc \ud0c0\uc784\uc744 \ud655\ubcf4\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774\ub294 \uac1c\ubcc4 \ubc31\ub798\uc2dc \uce21\uc815\uac12\uc744 \uc81c\uacf5\ud558\uc9c0 \uc54a\ub294 \uae30\uc5b4\ubc15\uc2a4\uc5d0\uc11c \ud754\ud788 \uc0ac\uc6a9\ub418\ub294 \"\uc815\ud574\uc9c4 \uac04\uaca9\uc73c\ub85c \uad50\uccb4\" \ubc29\uc2dd\uacfc\ub294 \uc644\uc804\ud788 \ub300\uc870\uc801\uc785\ub2c8\ub2e4. \uc774\ub7ec\ud55c \ubc29\uc2dd\uc758 \uacbd\uc6b0, \uad50\uccb4\uac00 \ub108\ubb34 \uc77c\ucc0d \uc774\ub8e8\uc5b4\uc838 \uc794\uc5ec \uc218\uba85\uc774 \ub0ad\ube44\ub418\uac70\ub098, \ubc18\ub300\ub85c \uc9c0\uc5f0\ub418\uc5b4 \uc228\uaca8\uc9c4 \uc815\ud655\ub3c4 \uc800\ud558\uac00 \ubc1c\uc0dd\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n<\/div>\n<\/details>\n

\nEP \uc2dc\ub9ac\uc988\ub97c \uc591\ud314 SCARA \ub85c\ubd07\uc5d0 \uc0ac\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\uae4c?+<\/span><\/summary>\n
\uc608, \uc774\uc911 \uc554 SCARA(\uacf5\uc720 \ubca0\uc774\uc2a4 \ub610\ub294 \uac20\ud2b8\ub9ac\uc5d0 \ub450 \uac1c\uc758 \ub3c5\ub9bd\uc801\uc778 SCARA \uc554\uc774 \uc7a5\ucc29\ub428)\ub294 \ub2e8\uc77c \uc554 SCARA\uc640 \ub3d9\uc77c\ud55c \uae30\uc5b4\ubc15\uc2a4 \uc0ac\uc591\uc744 \uc0ac\uc6a9\ud558\uba70, \uac01 \uc554\uc5d0 \ub3c5\ub9bd\uc801\uc73c\ub85c \uc801\uc6a9\ub429\ub2c8\ub2e4. \uac01 \uc554\uc758 \uae30\uc5b4\ubc15\uc2a4 \uc120\ud0dd\uc740 \uc774 \uac00\uc774\ub4dc\uc5d0 \uc124\uba85\ub41c J1-J4 \ubc29\ubc95\ub860\uc744 \ub530\ub974\uba70, \ud574\ub2f9 \uc554\uc758 \uae38\uc774\uc640 \ud398\uc774\ub85c\ub4dc\ub97c \uace0\ub824\ud569\ub2c8\ub2e4. \uc774\uc911 \uc554 \uc124\uacc4\uc5d0\uc11c \ucd94\uac00\uc801\uc73c\ub85c \uace0\ub824\ud574\uc57c \ud560 \uc0ac\ud56d\uc740 \uc8fc \uc554\uc758 J1 \ubca0\uc774\uc2a4 \uc870\uc778\ud2b8\uc785\ub2c8\ub2e4. \uc774 \uc870\uc778\ud2b8\ub294 \uc8fc \uc554\uc758 \uc6c0\uc9c1\uc784\uc73c\ub85c \uc778\ud55c \ud1a0\ud06c\uc640 \ub450 \uc554\uc774 \uacf5\ud1b5 \ubca0\uc774\uc2a4 \ud68c\uc804\uc744 \uacf5\uc720\ud558\ub294 \uacbd\uc6b0 \ubcf4\uc870 \uc554\uc5d0\uc11c \ubc1c\uc0dd\ud558\ub294 \ubc18\ub825\uc744 \ubaa8\ub450 \uc218\uc6a9\ud574\uc57c \ud569\ub2c8\ub2e4. \ub300\ubd80\ubd84\uc758 \uc774\uc911 \uc554 SCARA \uc124\uacc4\uc5d0\uc11c \ub450 \uac1c\uc758 J1 \uc870\uc778\ud2b8\ub294 \uae30\uacc4\uc801\uc73c\ub85c \ub3c5\ub9bd\uc801\uc774\ubbc0\ub85c(\uac01 \uc554\uc5d0 \uc790\uccb4 J1 \ubaa8\ud130\uc640 \uae30\uc5b4\ubc15\uc2a4\uac00 \uc788\uc74c) \ub2e8\uc77c \uc554 \uacc4\uc0b0 \uc678\uc5d0 \ucd94\uac00\uc801\uc778 \ud558\uc911 \ubd84\uc11d\uc740 \ud544\uc694\ud558\uc9c0 \uc54a\uc2b5\ub2c8\ub2e4. \ub450 \uc554\uc774 \uacf5\ud1b5 J1 \ubca0\uc774\uc2a4\ub97c \uacf5\uc720\ud558\ub294 \uad6c\uc131\uc758 \uacbd\uc6b0, \uacb0\ud569 \ubaa8\uba58\ud2b8 \ud558\uc911\uc744 \uac00\uc9c0\uace0 \ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc\uc5d0 \ubb38\uc758\ud558\uc2ed\uc2dc\uc624. \uacf5\uc720 J1\uc758 \ud504\ub808\uc784 \ud06c\uae30 \ubc0f \ub4f1\uae09 \uc120\ud0dd\uc744 \ub298\ub824\uc57c \ud560 \uc218\ub3c4 \uc788\uc2b5\ub2c8\ub2e4.<\/div>\n<\/details>\n

<\/p>\n

\n
\uc0ac\uc6a9 \uc6a9\ub3c4\uc5d0 \ub9de\ub294 SCARA \ubcc0\uc18d\uae30\ub97c \uc120\ud0dd\ud558\uc2ed\uc2dc\uc624.<\/div>\n
SCARA \ud398\uc774\ub85c\ub4dc \ud074\ub798\uc2a4, \uc0c1\uc644 \uae38\uc774 R1, \uc804\uc644 \uae38\uc774 R2, TCP \uc815\ud655\ub3c4 \uc0ac\uc591 \ubc0f \uc0ac\uc774\ud074 \uc18d\ub3c4\ub97c \ubcf4\ub0b4\uc8fc\uc2dc\uba74, \ud55c\uad6d \uc5d0\ubc84\ud30c\uc6cc\uc5d0\uc11c J1\ubd80\ud130 J4\uae4c\uc9c0 \uc801\ud569\ud55c EP \uc2dc\ub9ac\uc988, \ud504\ub808\uc784 \ud06c\uae30 \ubc0f \ub4f1\uae09\uc744 \ud655\uc778\ud558\uace0, J1+J2\uc5d0 \ub300\ud55c TCP \uc624\ucc28 \uc608\uc0b0 \uacc4\uc0b0 \ubc0f \uc2e4\uc81c \uc0ac\uc6a9 \uc0ac\uc774\ud074\uc5d0\uc11c\uc758 L10 \uc218\uba85\uc744 \ud655\uc778\ud574 \ub4dc\ub9bd\ub2c8\ub2e4. \uc601\uc5c5\uc77c \uae30\uc900 1\uc77c \uc774\ub0b4\uc5d0 \ub2f5\ubcc0\ub4dc\ub9ac\uaca0\uc2b5\ub2c8\ub2e4.<\/div>\n

SCARA \uacf5\ub3d9 \uc120\ud0dd \ud655\uc778 \u2192<\/a><\/p>\n<\/div>\n<\/div>\n<\/div>\n

\ud3b8\uc9d1\uc790: Cxm<\/p>","protected":false},"excerpt":{"rendered":"

>40% Of All Robots Shipped Globally J1\u2013J4 Four Distinct Axis Requirements P0 J1\/J2 Grade \u2014 TCP <0.05mm EP-FADS J3\/J4 Compact Direct-Insert S5 Duty Cycle \u2014 Pick and Place 0.030mm TCP Error at 300mm Radius, P0 Application Guide Why SCARA Robot Gearbox Selection Is Different From 6-Axis \u2014 And Why Getting It Wrong Is the Leading […]<\/p>","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_et_pb_use_builder":"","_et_pb_old_content":"","_et_gb_content_width":"","footnotes":""},"categories":[19],"tags":[],"class_list":["post-240","post","type-post","status-publish","format-standard","hentry","category-application-and-technical-guid"],"_links":{"self":[{"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/posts\/240","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/comments?post=240"}],"version-history":[{"count":2,"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/posts\/240\/revisions"}],"predecessor-version":[{"id":244,"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/posts\/240\/revisions\/244"}],"wp:attachment":[{"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/media?parent=240"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/categories?post=240"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/planetary-gearboxes.cn\/ko\/wp-json\/wp\/v2\/tags?post=240"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}