슬라이더 관절을 갖는 로봇 액츄에이터 메커니즘 개발

Abstract

This study is concerned about the robot joint mechanism with the slider joint. Most of robots are sliding using rolling bearing, cam flower or roller flower in the slider joint. Because such structure must impose pre-load so that outer ring of the bearing may have suitable contact force on contact side, when used many long term, life is fallen, and become factor of rising prices because must do precise machining about parts that use. This research proposes method to solve such problem. This research applies method to use sliding bearing instead of rolling bearing and develope mechanism that can operate for this. Also, this research develops structure that can transmit power using gear to reduce cost price. And optimal design for gear and main parts is achieved.