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Multi-DOF Counterbalance Mechanism for a Service Robot Arm

Authors
Kim, Hwi-SuSong, Jae-Bok
Issue Date
12월-2014
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Keywords
Counterbalance mechanism; counterbalance robot arm; low-cost robot; manipulator design
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.19, no.6, pp.1756 - 1763
Indexed
SCIE
SCOPUS
Journal Title
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume
19
Number
6
Start Page
1756
End Page
1763
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/96661
DOI
10.1109/TMECH.2014.2308312
ISSN
1083-4435
Abstract
Low-cost but high-performance robot arms are required for widespread use of service robots. Most robot arms use expensive motors and speed reducers to provide torques sufficient to support the robot mass and payload. If the gravitational torques due to the robot mass, which is usually much greater than the payload, can be compensated for by some means; the robot would need much smaller torques, which can be delivered by cheap actuator modules. To this end, we propose a novel counterbalance mechanism which can completely counterbalance the gravitational torques due to the robot mass. Since most 6-DOF robots have three pitch joints, which are subject to gravitational torques, we propose a 3-DOF counterbalance mechanism based on the double parallelogram mechanism, in which reference planes are provided to each joint for proper counterbalancing. A 5-DOF counterbalance robot arm was built to demonstrate the performance of the proposed mechanism. Simulation and experimental results showed that the proposed mechanism had effectively decreased the torque required to support the robot mass, thus allowing the prospective use of low-cost motors and speed reducers for high-performance robot arms.
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Song, Jae Bok
공과대학 (기계공학부)
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