Low-cost robot arm with 3-DOF counterbalance mechanism

Hwi Su Kim, Jae-Bok Song

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

14 Citations (Scopus)

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 by some means, the robot would need much smaller torques, which can be delivered by cheap actuator modules. To this end, we propose a counterbalance mechanism which can completely counterbalance the gravitational torques due to the robot mass. Since most 6 DOF robots have 3 pitch joints, which are subject to gravitational torques due to the robot mass, 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 root arms.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4183-4188
Number of pages6
DOIs
Publication statusPublished - 2013 Nov 14
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 2013 May 62013 May 10

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period13/5/613/5/10

Fingerprint

Robots
Costs
Torque
Speed reducers
Actuators

ASJC Scopus subject areas

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

Cite this

Kim, H. S., & Song, J-B. (2013). Low-cost robot arm with 3-DOF counterbalance mechanism. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4183-4188). [6631168] https://doi.org/10.1109/ICRA.2013.6631168

Low-cost robot arm with 3-DOF counterbalance mechanism. / Kim, Hwi Su; Song, Jae-Bok.

Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 4183-4188 6631168.

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

Kim, HS & Song, J-B 2013, Low-cost robot arm with 3-DOF counterbalance mechanism. in Proceedings - IEEE International Conference on Robotics and Automation., 6631168, pp. 4183-4188, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 13/5/6. https://doi.org/10.1109/ICRA.2013.6631168
Kim HS, Song J-B. Low-cost robot arm with 3-DOF counterbalance mechanism. In Proceedings - IEEE International Conference on Robotics and Automation. 2013. p. 4183-4188. 6631168 https://doi.org/10.1109/ICRA.2013.6631168
Kim, Hwi Su ; Song, Jae-Bok. / Low-cost robot arm with 3-DOF counterbalance mechanism. Proceedings - IEEE International Conference on Robotics and Automation. 2013. pp. 4183-4188
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