Design of a linear gravity compensator for a prismatic joint

Do Won Kim; Won Bum Lee; Jae Bok Song

doi:10.1109/IROS45743.2020.9341700

Design of a linear gravity compensator for a prismatic joint

Do Won Kim, Won Bum Lee, Jae Bok Song

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6440-6445
Number of pages	6
ISBN (Electronic)	9781728162126
DOIs	https://doi.org/10.1109/IROS45743.2020.9341700
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

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/Territory	United States
City	Las Vegas
Period	20/10/24 → 21/1/24

Bibliographical note

Funding 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: ehdnjs119@korea.ac.kr). 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: jbsong@korea.ac.kr).

Publisher Copyright:
© 2020 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS45743.2020.9341700

Cite this

Kim, D. W., Lee, W. B., & Song, J. B. (2020). Design of a linear gravity compensator for a prismatic joint. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 (pp. 6440-6445). Article 9341700 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS45743.2020.9341700

Design of a linear gravity compensator for a prismatic joint. / Kim, Do Won; Lee, Won Bum; Song, Jae Bok.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 6440-6445 9341700 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, DW, Lee, WB & Song, JB 2020, Design of a linear gravity compensator for a prismatic joint. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020., 9341700, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 6440-6445, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, United States, 20/10/24. https://doi.org/10.1109/IROS45743.2020.9341700

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abstract = "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.",

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note = "Funding 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: ehdnjs119@korea.ac.kr). 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: jbsong@korea.ac.kr). Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 ; Conference date: 24-10-2020 Through 24-01-2021",

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Design of a linear gravity compensator for a prismatic joint

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