병원 폐기물 처리로봇의 스카라 로봇의 기계장치 설계

Abstract

This paper describes the design and fabrication of a SCARA robot for the safe disposal of hospital waste. Currently, hospital waste is processed by sanitation workers; however, there are safety concerns such asinfection. Therefore, it is necessary to develop robots that can address this problem. A SCARA robot wasdesigned, forward and inverse kinematics equations were derived to control it, and simulations wereperformed using these equations. As a result of the simulation, the system operated normally. Using software,stress and displacement analyses of the SCARA robot were performed to design it safely, based on which theSCARA robot was designed and manufactured. Characteristic tests of the manufactured SCARA robotconfirmed that it operated normally. Therefore, the SCARA robot developed in this study can be attached toa mobile robot and used to move hospital waste to a designated location.