Development of a heavy load handling robot and its electric - pneumatic driving mechanism

摘要

A number of industrial robots have been used in various work task from small parts assembly jobs to heavy load handling ones. To handle heavy load, the manipulator becomes heavy because the payload to wight(p/w) ratio of the conventional robots is very low. In this research, a heavy load handling manipulator whose p/w ratio is over 1/4 was designed and fabricated. An electric-pneumati driving mechanism was also developed to achieve fine positioning accuracy with heavy payload. The combined drivign mechanism was implemented and tested in several aspects.