Most existing mechanical gravity compensators have been developed for revolute joints that are found in majority of articulated robot arms. However, robots such as patient transport robots use prismatic joints, which need to handle a heavy payload. In this study, a high-capacity linear gravity compensator (LGC), which comprises pure mechanical components, such as coil springs, a rack-pinion gear, a cam, and a wire, is proposed to compensate for the payload applied to a prismatic joint. The LGC is designed to generate a constant compensation force regardless of the payload position. The device can be manufactured at a low cost and has a significantly long lifespan because it uses coil springs to serve as an elastic body. Experiments demonstrate that the robot with the LGC can handle a load of 100 kg more than the robot using the same motors without it.
|Title of host publication||2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|Publication status||Published - 2020 Oct 24|
|Event||2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States|
Duration: 2020 Oct 24 → 2021 Jan 24
|Name||IEEE International Conference on Intelligent Robots and Systems|
|Conference||2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020|
|Period||20/10/24 → 21/1/24|
Bibliographical noteFunding Information:
* This research was supported by the MOTIE under the Care Robot Technology Development Program supervised by the KEIT (No. 20005002) Do-Won Kim and Won-Bum Lee are with the School of Mechanical Eng., Korea University, Seoul, Korea (e-mail: firstname.lastname@example.org). Jae-Bok Song (corresponding author) is a Professor of the School of Mechanical Eng., Korea University, Seoul, Korea (Tel.: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: email@example.com).
© 2020 IEEE.
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications