Reduction in gravitational torques of an industrial robot equipped with 2 DOF passive counterbalance mechanisms

Kuk Hyun Ahn, Won Bum Lee, Jae-Bok Song

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

2 Citations (Scopus)

Abstract

In most 6 DOF robot arms, considerable amounts of gravitational torques due to the robot's own weight are applied to pitch joints of the robot, which causes most arms to use high capacity motors and speed reducers. A spring-based counterbalance mechanism can compensate for this gravitational torque, thus leading to a significant reduction in the effect of gravity. However, a simple installation of counterbalance mechanisms at each pitch joint does not work properly because the gravitational torque at each joint is dependent also on the other joints. To achieve multi-DOF counterbalancing, we propose a parallelogram linkage combined with dual counterbalance mechanisms, each being composed of a slider-crank mechanism and springs. Simulations and experimental results showed that the counterbalance robot arm based on the proposed counterbalance mechanisms effectively reduced the torques required to support the robot mass, thus allowing the prospective use of much smaller motors and speed reducers than traditional industrial robots.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4344-4349
Number of pages6
Volume2016-November
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - 2016 Nov 28
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 2016 Oct 92016 Oct 14

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period16/10/916/10/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Ahn, K. H., Lee, W. B., & Song, J-B. (2016). Reduction in gravitational torques of an industrial robot equipped with 2 DOF passive counterbalance mechanisms. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 4344-4349). [7759639] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759639