Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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A Revolute Robot Manipulator with a New Structure

새로운 구조의 다관절 로봇 매니퓰레이터

  • 최형식 (한국해양대학교 기계 정보공학부) ;
  • 김영식 (한국해양대학교 대학원) ;
  • 백창열 (한국해양대학교 대학원)
  • Published : 2004.05.01
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Abstract

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, a new type of the robot actuator based on the four-bar-link mechanism driven by the ball screw was proposed and constructed. Also, a new type of a revolute-jointed robot manipulator composed of the developed actuators was developed. The base axis is actuated by the motor with the conventional speed reducer, but the other axes are actuated by the proposed actuators. The kinematics and dynamics of the robot were analyzed, and the performance test of the robot was made. Through the test results, the performance of superior load capacity versus the robot weight is shown.

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References

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