TY - GEN
T1 - Design of a linear gravity compensator for a prismatic joint
AU - Kim, Do Won
AU - Lee, Won Bum
AU - Song, Jae Bok
N1 - 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.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85102398660&partnerID=8YFLogxK
U2 - 10.1109/IROS45743.2020.9341700
DO - 10.1109/IROS45743.2020.9341700
M3 - Conference contribution
AN - SCOPUS:85102398660
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6440
EP - 6445
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -