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http://dx.doi.org/10.3795/KSME-A.2004.28.5.539

A Revolute Robot Manipulator with a New Structure  

Choi, Hyung-Sik (한국해양대학교 기계 정보공학부)
Kim, Young-Sik (한국해양대학교 대학원)
Baek, Chang-Yul (한국해양대학교 대학원)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.28, no.5, 2004 , pp. 539-546 More about this Journal
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.
Keywords
Ball Screw Actuator; Four Bar Link; Revolute Robot Manipulator;
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