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OPTIMAL DESIGN OF A MANIPULATOR FOR A HOME SERVICE ROBOT CAPABLE OF REDUCING NUMBER OF ROBOT ARM JOINTS AND ACTUATORS
OPTIMAL DESIGN OF A MANIPULATOR FOR A HOME SERVICE ROBOT CAPABLE OF REDUCING NUMBER OF ROBOT ARM JOINTS AND ACTUATORS
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机译：减少机器人手臂关节和执行器数量的家庭服务机器人操纵器的优化设计
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摘要
PURPOSE: An optimal design of a manipulator for a home service robot is provided to reduce load of a robot arm while moving because the robot arm is folded inward when moving in a state where a robot grips objects.;CONSTITUTION: An optimal design of a manipulator for a home service robot comprises a base(10), a robot arm(20), a lift(30), and a link unit(40). The base has multiple driving wheels(12). The robot arm is composed of multiple robot joint units and grips objects. The lift is supported to the upper part of the base and is connected with the robot arm. The lift moves upward and downward the robot arm. The link unit is connected and supported to the lift. The link unit is connected with one end of the robot arm and moves the robot arm to a forward direction.;COPYRIGHT KIPO 2012
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