Robotic manipulators are increasingly deployed in complex environments or to perform complex tasks. Studies on dual-arm-robots have been continually carried out in robotics areas to provide robots in dangerous environments, similar to those which human beings would be normally in, without a special change to the working environment. In previous study, a dual-arm-robot has been designed. The robot, however, has some defects in its heavy weight and big shape. In order to reduce weight of an arm robot, the robot has been designed using a hollow-shaft-servo- assembly. The hollow-shaft-servo-assembly is composed of a hollow-shaft-servo-motor, a hollow- shaft-harmonic-drive, a hollow-shaft-brake, a hollow-shaft-encoder, and a servo-drive.

Abstract
 1. 서 론
 2. 듀얼암 로봇
 3. 중공형 서보 조립체
  3.1 중공형 서보 모터
  3.2 중공형 브레이크
  3.3 중공형 하모닉 드라이브 선정
  3.4 중공형 멀티턴(multi-turn) 절대치 엔코더
  3.5 서보 드라이브
 4. 경량화된 로봇 제작
 5. 결 론
 참 고 문 헌

• 고석조(동의과학대학 컴퓨터응용기계계열) | S. J. GO
• 이영진((주)오토파워) | Y. J. LEE