Design of a linear gravity compensator for a prismatic joint

Do Won Kim, Won Bum Lee, Jae Bok Song

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    7 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 languageEnglish
    Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages6440-6445
    Number of pages6
    ISBN (Electronic)9781728162126
    DOIs
    Publication statusPublished - 2020 Oct 24
    Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
    Duration: 2020 Oct 242021 Jan 24

    Publication series

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

    Conference

    Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
    Country/TerritoryUnited States
    CityLas Vegas
    Period20/10/2421/1/24

    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: [email protected]). 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 protected]).

    Publisher Copyright:
    © 2020 IEEE.

    ASJC Scopus subject areas

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

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