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http://dx.doi.org/10.5916/jkosme.2014.38.6.648

A study on design, experiment control of the waterproof robot arm  

Ha, Jihoon (Department of Mechanical Engineering, Korea Marine and Ocean Univ.)
Joo, Youngdo (SMEC CO., Ltd.)
Kim, Donghee (Department of Mechanical Engineering, Korea Marine and Ocean Univ.)
Kim, Joon-Young (Division of Marine Equipment Engineering, Korea Marine and Ocean Univ.)
Choi, Hyeung-Sik (Division of Mechanical & Energy Systems Engineering, Korea Maritime and Ocean University)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.38, no.6, 2014 , pp. 648-657 More about this Journal
Abstract
This paper is about the study on a newly developed small waterproofed 4-axis robot arm and the analysis of its kinematics and dynamics. The structure of robot arm is designed to have Pitch-Pitch-Pitch-Yaw joint motion for inspection using a camera on itself and the joint actuator driving capacity are selected and the joint actuators are designed and test for 10m waterproofness. The closed-form solution for the robot arm is derived through the forward and inverse kinematics analysis. Also, the dynamics model equation including the damping force due to the mechanical seal for waterproofness is derived using Newton-Euler method. Using derived dynamics equation, a sliding mode controller is designed to track the desired path of the developed robot arm, and its performance is verified through a simulation.
Keywords
Waterproof; Robot arm; Kinematics; Dynamics; Sliding mode control;
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