This paper describes the design of a 4-axis SCARA-Type robot in the form of a scalar robot for the loading and unloading of workpieces in machine tools. The 4-axis dedicated robot is a 4-degrees-of-freedom robot consisting of a joint 1, 2, 3 motor and a 180° rotating gripper made up of a horizontal gripper and a vertical gripper. It was designed in a scalar shape that is suitable for machine tools, and the size of each link and elbow was determined through structural analysis. Through additional structural analysis, the deflection of the end center of the workpiece fixed to the horizontal gripper and the vertical gripper was designed to be within 0.1 mm, and based on the design result, a 4-axis SCARA-Type robot was manufactured, and the basic motion characteristics of the manufactured robot were tested. As a result of the characteristic test, the manufactured 4-axis SCARA-Type robot operated smoothly, so it is judged to be adequate for usage in loading and unloading the workpieces in machine tools.
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In this paper, the topology optimization method was used to describe the lightweight design of link structures for an amphibious boat. Topology optimization was used to determine the optimum density distribution of the structure. The analysis revealed that the link structures for amphibious boat can be reduced up to 31 percent by weight without altering the design of the connected and supported parts. The structural integrity of the proposed lightweight link structures was evaluated via topology optimization and verified by finite element analysis and static test. The structural integrity of lightweight link structures was found to meet the design requirements. The running stability of amphibious boat with lightweight link structures was verified via ground and water driving tests.
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