The Development of The Robot Manipulator for an Intelligent Service Robot

The manipulator, much higher intelligence and technology for realizing environment are required to carry objects in case the intelligent service robot assists or substitutes human works. The manipulator of them executes works gripping or carrying object at any position in various environments. The manipulator of household service robot should be able to accomplish the task carrying small thing, a glass and stationery. And human-friendly design reducing a possibility of danger is required to execute orders and reduce an unpleasant feeling. Therefore, the robot manipulator making use of human-friendly design and implementing human's arm motions is presented in this paper. And the design process for each joint of the manipulator is introduced. Also the manipulator executes tasks carrying object at any position, which is verified in this paper

1. INTRODUCTION

The industrial robot rapidly has been grown up by development of labor-intensive industries which are similar to the vehicle and electronic industry since the late 1960s. And the industrial robot has been developed in earnest since it was used from production site. However, sluggishness of market has resulted in opportunities for the industry formation in new field and advances in technology after the industrial robot market was shown maturity from 1990s. Due to the increased social demands for housework or life support and the progress toward an aging society in recent years, the robot market has been changed from the existing industrial robot that executes highly repetitive tasks in the static environment to the service robot that provides human with conveniences and copes with a variety of circumstances in the dynamic environment.(1) (2)