This paper introduces the new concept of a gripper mechanism mounted on the home cleaning robot. This new mechanism composed of two grippers and an auxiliary dustpan can tidy and load up objects. We additionally analyze the required motor torque and dynamic motion of this robot using dynamic simulation of Recurdyn. This new tidying gripper mechanism is expected to be used in various home cleaning applications.

ABSTRACT
 1. 서 론
 2. 청소로봇 그리퍼의 설계 및 시뮬레이션 분석
  2.1 청소로봇의 하드웨어 설계
  2.2 전장부 구성
  2.3 시뮬레이션 해석
 3. 청소로봇 그리퍼 성능평가
 4. 결 론
 후 기
 References

• 채중령(Chungnam National Univ., School of Mechanical Eng.) | Jung-Ryeong Chae
• 설찬용(Chungnam National Univ., School of Mechanical Eng.) | Chan-Yong Shul
• 임태욱(Chungnam National Univ., School of Mechanical Eng.) | Ta-Euk Lim
• 성호(Chungnam National Univ., School of Mechanical Eng.) | Hao Cheng
• 정원석(Chungnam National Univ., School of Mechanical Eng.) | Won-Suk Jung Corresponding Author