Design of a 6-DOF collaborative robot arm with counterbalance mechanisms

Won Bum Lee, Sang Duck Lee, Jae-Bok Song

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

2 Citations (Scopus)

Abstract

Most collaborative robots use high-power motors for a good weight-to-payload ratio, thus leading to not only an increase in manufacturing cost but also possibility of injury at a collision between a human and a robot. To maintain high-performance with low-power driving units, a spring-based counterbalance mechanism (CBM) and a robot arm based on these CBMs were developed in our previous study. In this study, a 6-DOF collaborative robot equipped with a multi-DOF CBM is proposed. A double parallelogram linkage and a slider-crank mechanism are employed for a compact and durable design of a multi-DOF CBM. Unlike the previous prototypes in which some portions of CBMs were protruded out of the robot body due to their large volume, the proposed CBMs can be embedded inside the robot links. The performance of the developed CBM and collaborative robot were verified based on simulations using dynamic simulation software. Simulation results show that the proposed CBMs can effectively reduce the joint torques required to operate the robot. This reduction in the torque enables low-power motors to be used in a collaborative robot, thus significantly improving collision safety and energy efficiency.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3696-3701
Number of pages6
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 2017 Jul 21
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 2017 May 292017 Jun 3

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period17/5/2917/6/3

Fingerprint

Robots
Torque
Energy efficiency
Computer simulation
Costs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Lee, W. B., Lee, S. D., & Song, J-B. (2017). Design of a 6-DOF collaborative robot arm with counterbalance mechanisms. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 3696-3701). [7989425] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989425

Design of a 6-DOF collaborative robot arm with counterbalance mechanisms. / Lee, Won Bum; Lee, Sang Duck; Song, Jae-Bok.

ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 3696-3701 7989425.

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

Lee, WB, Lee, SD & Song, J-B 2017, Design of a 6-DOF collaborative robot arm with counterbalance mechanisms. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989425, Institute of Electrical and Electronics Engineers Inc., pp. 3696-3701, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 17/5/29. https://doi.org/10.1109/ICRA.2017.7989425
Lee WB, Lee SD, Song J-B. Design of a 6-DOF collaborative robot arm with counterbalance mechanisms. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 3696-3701. 7989425 https://doi.org/10.1109/ICRA.2017.7989425
Lee, Won Bum ; Lee, Sang Duck ; Song, Jae-Bok. / Design of a 6-DOF collaborative robot arm with counterbalance mechanisms. ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 3696-3701
@inproceedings{4948b5f753594aae9c37fd98c800f7ff,
title = "Design of a 6-DOF collaborative robot arm with counterbalance mechanisms",
abstract = "Most collaborative robots use high-power motors for a good weight-to-payload ratio, thus leading to not only an increase in manufacturing cost but also possibility of injury at a collision between a human and a robot. To maintain high-performance with low-power driving units, a spring-based counterbalance mechanism (CBM) and a robot arm based on these CBMs were developed in our previous study. In this study, a 6-DOF collaborative robot equipped with a multi-DOF CBM is proposed. A double parallelogram linkage and a slider-crank mechanism are employed for a compact and durable design of a multi-DOF CBM. Unlike the previous prototypes in which some portions of CBMs were protruded out of the robot body due to their large volume, the proposed CBMs can be embedded inside the robot links. The performance of the developed CBM and collaborative robot were verified based on simulations using dynamic simulation software. Simulation results show that the proposed CBMs can effectively reduce the joint torques required to operate the robot. This reduction in the torque enables low-power motors to be used in a collaborative robot, thus significantly improving collision safety and energy efficiency.",
author = "Lee, {Won Bum} and Lee, {Sang Duck} and Jae-Bok Song",
year = "2017",
month = "7",
day = "21",
doi = "10.1109/ICRA.2017.7989425",
language = "English",
pages = "3696--3701",
booktitle = "ICRA 2017 - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Design of a 6-DOF collaborative robot arm with counterbalance mechanisms

AU - Lee, Won Bum

AU - Lee, Sang Duck

AU - Song, Jae-Bok

PY - 2017/7/21

Y1 - 2017/7/21

N2 - Most collaborative robots use high-power motors for a good weight-to-payload ratio, thus leading to not only an increase in manufacturing cost but also possibility of injury at a collision between a human and a robot. To maintain high-performance with low-power driving units, a spring-based counterbalance mechanism (CBM) and a robot arm based on these CBMs were developed in our previous study. In this study, a 6-DOF collaborative robot equipped with a multi-DOF CBM is proposed. A double parallelogram linkage and a slider-crank mechanism are employed for a compact and durable design of a multi-DOF CBM. Unlike the previous prototypes in which some portions of CBMs were protruded out of the robot body due to their large volume, the proposed CBMs can be embedded inside the robot links. The performance of the developed CBM and collaborative robot were verified based on simulations using dynamic simulation software. Simulation results show that the proposed CBMs can effectively reduce the joint torques required to operate the robot. This reduction in the torque enables low-power motors to be used in a collaborative robot, thus significantly improving collision safety and energy efficiency.

AB - Most collaborative robots use high-power motors for a good weight-to-payload ratio, thus leading to not only an increase in manufacturing cost but also possibility of injury at a collision between a human and a robot. To maintain high-performance with low-power driving units, a spring-based counterbalance mechanism (CBM) and a robot arm based on these CBMs were developed in our previous study. In this study, a 6-DOF collaborative robot equipped with a multi-DOF CBM is proposed. A double parallelogram linkage and a slider-crank mechanism are employed for a compact and durable design of a multi-DOF CBM. Unlike the previous prototypes in which some portions of CBMs were protruded out of the robot body due to their large volume, the proposed CBMs can be embedded inside the robot links. The performance of the developed CBM and collaborative robot were verified based on simulations using dynamic simulation software. Simulation results show that the proposed CBMs can effectively reduce the joint torques required to operate the robot. This reduction in the torque enables low-power motors to be used in a collaborative robot, thus significantly improving collision safety and energy efficiency.

UR - http://www.scopus.com/inward/record.url?scp=85027989345&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85027989345&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2017.7989425

DO - 10.1109/ICRA.2017.7989425

M3 - Conference contribution

AN - SCOPUS:85027989345

SP - 3696

EP - 3701

BT - ICRA 2017 - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

ER -