Development of Educational 6-axis Articulated Manipulator Using 4-bar Linkage

4-bar Linkage를 이용한 교육용 6축 수직 다관절 로봇 개발

This paper is on the development of an educational 6-axis articulated manipulator using 4-bar linkage system. Especially, the 2$^{nd}$ and the 3$^{rd}$ axes need large torque to control the movement of an end-effect. However, small motors (RC-servo, DC-gear, stepping meters) are used for the 4-bar linkage. In addition the manipulator can be operated by a switch and also motion can be realized automatically, based on C-language coded users programs..