Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)

  • 2006.05a
  • /
  • Pages.67-68
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  • 2006
  • /
  • 2005-8446(pISSN)
Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Development of cooperating robot arms with ultra light weight

초경량 양팔로봇의 개발

  • 최형식 (한국해양대 기계공학과) ;
  • 문웅주 (한국해양대 대학원 기계공학과) ;
  • 김병국 (한국해양대학교 대학원 기계공학과) ;
  • 임근화 (한국해양대학교 대학원 기계공학과)
  • Published : 2006.05.01
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Abstract

In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot ann was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the ann joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.

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