방수형 4축 소형 매니퓰레이터의 설계 연구

Abstract

This paper is about the development of waterproofed 4-axis small manipulator. 4-axis manipulator is designed according to payload 2kg, total weight around 10kg of small light weight and modularization. Each link is designed the modularization to assemble and replace the parts easily. Also it is waterproof designed by adapting o-ring and oil seal which facilitate assembly space and are light weight for working in 10m depth of water. This manipulator features that patrol and observation is possible to equip camera or gripper on the end of the axis in case by case. I calculated the ideal motor capacity by interpreting inertia torque where is on the each joint actuator and figured out the feature of 4-axis manipulator motion through the interpretation of dynamics.