This study is concerned about the robot joint mechanism with the slider joint. Most of robots are sliding using rolling bearing, cam follower or roller follower in the slider joint. Because such structure must impose pre-load so that outer ring of the bearing may have suitable contact force on contact side, when used many long term, life is fallen, and become factor of rising prices because must do precise machining about parts that use. This research proposes method to solve such problem. This research applies method to use sliding bearing instead of rolling bearing and develope mechanism that can operate for this. Also, this research develops structure that can transmit power using gear to reduce cost price. And optimal design for gear and main parts is achieved.

Abstract
 1. 서론
 2. 설계
  2.1. 구조 개요
  2.2. 베이스 및 지지부 설계
  2.3. 구동부 설계
  2.4. 슬라이딩부 설계
 3. FEM 해석 및 최적화
  3.1 모델링 및 해석
  3.2 구동 기어 해석
  3.3 구동 및 지지부 해석
  3.4 설계 치수
 4. 결론
 참고문헌

• 이종신(주성대학 컴퓨터응용기계과) | Jong Shin, Lee