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Development of High-Weight, High-Elastic Rubber Sleeve Automatic Exchange Robot Manipulator

This paper describes the process of developing a robotic manipulator that automatically exchanges large, heavyweight (250kg) and highly elastic rubber sleeves. The robot needs to change the rubber sleeve within 3 minutes with the access area of the robot, which is a requirement of the field, with 23.6 m and height limit within 2.0 m. In order to develop the robot, the driving element (Gears, screw, motor, etc.) is determined by trajectory generation, kinematic and dynamic analysis, and structural rigidity of the robot is verified through structural analysis.