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http://dx.doi.org/10.5574/KSOE.2013.27.2.100

Design Study on Waterproof 4-axis Manipulator  

Choi, Hyeung-Sik (Korea Maritime University, Mechanical and Energy System)
Jo, Jong-Rae (Korea Maritime University, Mechanical and Energy System)
Woo, Myoung-Man (Korea Maritime University, Mechanical and Energy System)
Seo, Jung-Min (Korea Maritime University, Mechanical and Energy System)
Ju, Young-Do (SMEC Co. Ltd.)
Kang, Jung-Suk (SMEC Co. Ltd.)
Publication Information
Journal of Ocean Engineering and Technology / v.27, no.2, 2013 , pp. 100-106 More about this Journal
Abstract
This paper deals with the design method for a small waterproof 4-axis robot arm. An extensive analysis was performed on the torque applied to the robot joint as a result of the payload, as well as the design of the joint actuator capacity. In addition, a study was undertaken on the design of a waterproof joint actuator that works at depths greater than 10 m and the wiring design for a small waterproof connector to avoid obstructing the robot motion. Finally, a finite element method simulation was carried out to analyze the strength of the designed robot arm link, and its stability was verified through a simulation test.
Keywords
Waterproof; Robot arm; Joint actuator; Finite element method;
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