방수형 경량 로봇팔의 설계 연구

다국어 초록 (Multilingual 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.

참고문헌 (Reference)

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