Multi-DOF counterbalance mechanism for low-cost, safe and easy-usable robot arm

Hwi Su Kim, Jae Kyung Min, Jae-Bok Song

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

2 Citations (Scopus)

Abstract

Recently, various types of robot arms have been developed due to the increasing needs of the robot in various fields. However, these robot arms are still too much expensive and dangerous since high capacity motors and gear reducers are used to provide sufficient torques to support the robot arm mass. This makes robot market still limited to industrial fields. To this end, we propose a novel counterbalance mechanism based on the spring-wire and a double parallelogram mechanism, which can completely cancel out the gravitational torques applied at each joint due to the robot mass. Thus the robot would need much smaller torques, which can be delivered by cheap and low capacity actuators. Furthermore, a 6-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 torques required to operate the robot arm and thereby allowing the prospective use of low capacity motors and gear reducers for high performance robot arms.

Original languageEnglish
Title of host publication2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages185-188
Number of pages4
ISBN (Electronic)9781479953325
DOIs
Publication statusPublished - 2014
Event2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia
Duration: 2014 Nov 122014 Nov 15

Other

Other2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
CountryMalaysia
CityKuala Lumpur
Period14/11/1214/11/15

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Keywords

  • Counterbalance mechanism
  • Counterbalance robot arm
  • low-cost robot
  • manipulator design

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Kim, H. S., Min, J. K., & Song, J-B. (2014). Multi-DOF counterbalance mechanism for low-cost, safe and easy-usable robot arm. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 (pp. 185-188). [7057527] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2014.7057527