TY - GEN
T1 - Reduction in gravitational torques of an industrial robot equipped with 2 DOF passive counterbalance mechanisms
AU - Ahn, Kuk Hyun
AU - Lee, Won Bum
AU - Song, Jae-Bok
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - In most 6 DOF robot arms, considerable amounts of gravitational torques due to the robot's own weight are applied to pitch joints of the robot, which causes most arms to use high capacity motors and speed reducers. A spring-based counterbalance mechanism can compensate for this gravitational torque, thus leading to a significant reduction in the effect of gravity. However, a simple installation of counterbalance mechanisms at each pitch joint does not work properly because the gravitational torque at each joint is dependent also on the other joints. To achieve multi-DOF counterbalancing, we propose a parallelogram linkage combined with dual counterbalance mechanisms, each being composed of a slider-crank mechanism and springs. Simulations and experimental results showed that the counterbalance robot arm based on the proposed counterbalance mechanisms effectively reduced the torques required to support the robot mass, thus allowing the prospective use of much smaller motors and speed reducers than traditional industrial robots.
AB - In most 6 DOF robot arms, considerable amounts of gravitational torques due to the robot's own weight are applied to pitch joints of the robot, which causes most arms to use high capacity motors and speed reducers. A spring-based counterbalance mechanism can compensate for this gravitational torque, thus leading to a significant reduction in the effect of gravity. However, a simple installation of counterbalance mechanisms at each pitch joint does not work properly because the gravitational torque at each joint is dependent also on the other joints. To achieve multi-DOF counterbalancing, we propose a parallelogram linkage combined with dual counterbalance mechanisms, each being composed of a slider-crank mechanism and springs. Simulations and experimental results showed that the counterbalance robot arm based on the proposed counterbalance mechanisms effectively reduced the torques required to support the robot mass, thus allowing the prospective use of much smaller motors and speed reducers than traditional industrial robots.
UR - http://www.scopus.com/inward/record.url?scp=85006365090&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759639
DO - 10.1109/IROS.2016.7759639
M3 - Conference contribution
AN - SCOPUS:85006365090
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4344
EP - 4349
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -