DOI QR코드

DOI QR Code

Design Study on Waterproof 4-axis Manipulator

방수형 경량 로봇팔의 설계 연구

  • Received : 2013.03.18
  • Accepted : 2013.04.19
  • Published : 2013.04.30

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

References

  1. White, J.R., Sunagawa, T., Akajima, T., 1989. Hazardous-Duty Robots-Experiences and Needs. Proceedings of IEEE/RSJ Int. Workshop on Intelligent Robots and Systems (IROS'89), 262-267.
  2. Michaud, F., Arsenault, M., Bergeron, Y,. Cadrin, R., Gagnon, F., Legault, M., Millette, M., Pare, J., Tremblay, M., Letourneau, D., Lepage, P., Morin, Y., Caron, S., Bisson, J., 2003. Co-Design of AZIMUT: A Multi-Modal Robotic Platform. Proceedings of ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Chicago, USA, 801-810.
  3. Srinivasa, S., Ferguson, D., Helfrich, C., Berenson, D., Collet, A., Diankov, R., Gallagher, G., Hollinger, G., Kuffner, Vande Weghe, J., 2009. A Home Xploring Robotic Butler. Autonom. Robots, 28(1), 5-20.
  4. Nilsson, N., 1969. A Mobile Automation: An Application of Artificial Intelligence Techniques. Proceedings of the 1st International Joint Conference on Artificial Intelligence, 509-520.
  5. Ambler, A.P., Barrow, H.G., Brown, C.M., Burstall, R.M., Opplestone, R.J., 1973. A Versatile Computer-Controlled Assembly System. Proceedings of the 3rd International Joint Conference on Artificial Intelligence, 298-307.
  6. Lozano-Perez, T., Jones, J., Mazer, E., O'Donnell, P., Grimson, W., Tournassoud, P., Lanusse, A., Handey, B., 1987. A Robot System that Recognizes, Plans, and Manipulates. Proceedings of IEEE Int. Conf. Robot, 843-849.
  7. Ben-Tzvi, P., Goldenberg, A.A., Jean, Zu, W., 2008. Design, Simulations and Optimization of a Tracked Mobile Robot Manipulator with Locomotion and Manipulation Capabilities. Proceedings of IEEE Int. Conf. on Rob. and Auto., 2307-2312.
  8. Kim, T.G., Kim, H.S., Song, J.B., Baek, J.H., Ryu, J.K., 2010. Arm Design of a Surveillance Robot for Stable Camera View. Proceedings of the KSME 2010 Fall Annual Meeting, 1078-1080.
  9. Kim, S.S., Song, J.B., Kim, H.S., 2012. Design of a Manipulator for Surveillance Robot using CFRP. Proceeding of KSPE 2012 Spring Conference, 227-228.
  10. Na, D.Y., Choi, C.M., Min, H.H., Moon, H.P., Jung J.W., Kim, Y.T., 2009. Vision-based Docking Method for Modular Robots with 3 DOF Docking Arm. Proceedings of KIIS Fall Conference 2009, 19(2), 86-87.
  11. Murphy, R.R., 2004. Activities of the Rescue Robots at the World Trade Center from 11-21 September 2001. IEEE Robotics and Automation Magazine, 50-61.
  12. Frost, T., Norman, C., Pratt, S., Yamauchi, B., 2002. Derived Performance Metrics and Measurements Compared to Field Experience for the PackBot. Proceedings of the 2002 PerMIS Workshop, MD, USA.