This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

Abstract
1. 서 론
2. 시스템 설계
    2.1 액추에이터 모듈
    2.2 3자유도 매니퓰레이터
3. 실 험
    3.1 실험장치 구성
    3.2 성능검증 실험 및 고찰
4. 결 론
References

• 김정영(Robotics and Virtual Engineering, University of Science and Technology (UST)) | Jungyeong Kim
• 김진탁(Robotics R&D Group, Korea Institute of Industrial Technology (KITECH)) | Jin Tak Kim
• 박상신(Robotics R&D Group, Korea Institute of Industrial Technology (KITECH)) | Sangshin Park
• 한상철(Robotics R&D Group, Korea Institute of Industrial Technology (KITECH)) | Sangchul Han
• 김진현(Robotics R&D Group, Korea Institute of Industrial Technology (KITECH)) | Jinhyeon Kim
• 조정산(Robotics, Industrial Technology, University of Science and Technology (UST)/Robotics R&D Group, Korea Institute of Industrial Technology (KITECH)) | Jungsan Cho Corresponding author