Light Weight Robot을 위한 중공축 서보 조립체 개발

Robotic manipulators are increasingly deployed in complex environments or to perform complex tasks. Studies on dual arm robots have been continually carried out in robotics areas to provide robots in dangerous environments, similar to those which human beings would be normally in, without a special change to the working environment. In this study, a hallow shaft servo assembly for light weight of a dual arm robot has been developed. The hallow shaft servo assembly is composed of a hallow shaft servo motor, a hallow shaft harmonic drive, a hallow shaft brake, a hallow shaft encoder, and a servo drive.