TY - JOUR
T1 - Manipulator equipped with counterbalance mechanism based on gear unit
AU - Kang, In Ho
AU - Kim, Hwi Su
AU - Song, Jae Bok
AU - Lee, Hyun Soo
AU - Chang, In Sung
PY - 2014/3
Y1 - 2014/3
N2 - Industrial manipulators are usually heavy given the payloads they carry. Therefore, they require highcapacity servomotors and speed reducers, which leads to high costs. However, if manipulator weight could be compensated for using a counterbalance mechanism, the motors' and speed reducers' capacities could be minimized substantially. However, it is usually difficult to assure durability and reliability with the conventional wire-based counterbalance mechanism. Therefore, a more robust gear- and roller-based counterbalance mechanism is proposed in this study. A manipulator was developed using this mechanism; this manipulator maintains its performance even when using motors and reducers of lower capacities. The results of various simulations and experiments verified that the proposed mechanism provides the torque required to compensate for gravitational torque in any configuration and minimizes the torque required for supporting a large payload.
AB - Industrial manipulators are usually heavy given the payloads they carry. Therefore, they require highcapacity servomotors and speed reducers, which leads to high costs. However, if manipulator weight could be compensated for using a counterbalance mechanism, the motors' and speed reducers' capacities could be minimized substantially. However, it is usually difficult to assure durability and reliability with the conventional wire-based counterbalance mechanism. Therefore, a more robust gear- and roller-based counterbalance mechanism is proposed in this study. A manipulator was developed using this mechanism; this manipulator maintains its performance even when using motors and reducers of lower capacities. The results of various simulations and experiments verified that the proposed mechanism provides the torque required to compensate for gravitational torque in any configuration and minimizes the torque required for supporting a large payload.
KW - Counterbalance mechanism
KW - Gravity compensation
KW - Industrial manipulator
UR - http://www.scopus.com/inward/record.url?scp=84898454907&partnerID=8YFLogxK
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U2 - 10.3795/KSME-A.2014.38.3.289
DO - 10.3795/KSME-A.2014.38.3.289
M3 - Article
AN - SCOPUS:84898454907
VL - 38
SP - 289
EP - 294
JO - Transactions of the Korean Society of Mechanical Engineers, A
JF - Transactions of the Korean Society of Mechanical Engineers, A
SN - 1226-4873
IS - 3
ER -