Abstract
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-pneumatic driving mechanism was also developed to achieve fme positioning accuracy with heavy payload. The combined driving mechanism was implemented and tested in several aspects.
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