Design Study on Waterproof 4-axis Manipulator

방수형 경량 로봇팔의 설계 연구

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


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.


Waterproof;Robot arm;Joint actuator;Finite element method


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