Modular link fastening mechanism for various robot arm joint configurations

Dowon Kim, Jae Bok Song, Seo Hyeon Kim

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


Current commercial collaborative robot arms have a fixed degree of freedom, workspace, and payload because their links are not replaceable. A modular robot with replaceable links is therefore desirable for various task requirements at industrial sites to be met. To address this problem, this study proposes a modular link fastening mechanism for various joint configurations. The proposed mechanism is a simple structure employing a urethane ring and a cam lever and is easy to design owing to the elasticity and friction of urethane. The static and dynamic load experiments demonstrated that the links remained securely fastened to the robot body even when a large load was applied to the robot. Additionally, the link could be assembled and disassembled in a short period of time.

Original languageEnglish
Pages (from-to)765-770
Number of pages6
JournalTransactions of the Korean Society of Mechanical Engineers, A
Issue number11
Publication statusPublished - 2020

Bibliographical note

Publisher Copyright:
© 2020 Korean Society of Mechanical Engineers. All rights reserved.


  • Collaborative robot
  • Link fastening mechanism
  • Urethane characteristics

ASJC Scopus subject areas

  • Mechanical Engineering


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