다관절 해저로봇 CR200의 다리 겸용 로봇팔 개발

Abstract

this paper presents the development of leg with arm for the CR200 as multi-legged seabed robot as design points, fabrication factors and experiments. The design points of leg with arm were presented and also the manufactured leg with arm was showed. In order to verify the design factors, the experiment of joint driving, pressure-resistant and watertight with 25bar were performed.m was showed. In order to verify the design factors, the experiment of joint driving, pressure-resistant and watertight with 25bar were performed.