Author
Hangoo Kang, Hyungwon Shim, Bong-Huan Jun, Pan-Mook Lee
한국해양과학기술협의회 공동학술대회, 2012, Daegu in Korea
Abstract - The KORDI has launched a new project to develop multi-legged subsea robot, named CR200, for precise proximity exploration and precise underwater work in the shallow sea under 200m depth. In this project, a six-legged underwater robot is proposed for the both of seabed walking and underwater working in the high tide and high turbidity environment. The proposed robot uses two front legs as manipulators. This paper deals with the design of robot arm combined with leg for the six-legged subsea robot. First, The kinematics structure and shapes of robot arm combined with
leg are established. Second, the specific design is performed such as calculation of torque for joints and selections of motor, reduction gears, sensors, and motor controller. Finally, mechanical designs were performed using 2D and 3D CAD design tools. All of the design process will be presented in this paper.
(Pressed in Korean)
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