TY - GEN
T1 - Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism
AU - Lee, Won Bum
AU - Moon, Byung Yoon
AU - Kim, Tae Jung
AU - Song, Jae Bok
PY - 2019/11
Y1 - 2019/11
N2 - The use of high-capacity motors and harmonic drives increases the manufacturing cost and the energy consumption of the robot. It is well known that most motor torques are used to support the robot mass and payload. To deal with this problem, we propose a wall-mounted 3-DOF roll-pitch-pitch counterbalance mechanism (CBM). Unlike previous CBMs used for floor-mounted industrial robot arms, the proposed CBM can be applied to wall-mounted robots in which the first three joints are all coupled and affected by gravity. This mechanism is composed of pure mechanical components such as coil springs, differential gear structure, and belt-pulley system. A 6-DOF robot arm equipped with the proposed CBM was fabricated to verify the performance of gravity compensation. It is shown that the proposed 3-DOF CBM can effectively compensate for gravitational torques, thus drastically reducing the motor torques required to operate the robot.
AB - The use of high-capacity motors and harmonic drives increases the manufacturing cost and the energy consumption of the robot. It is well known that most motor torques are used to support the robot mass and payload. To deal with this problem, we propose a wall-mounted 3-DOF roll-pitch-pitch counterbalance mechanism (CBM). Unlike previous CBMs used for floor-mounted industrial robot arms, the proposed CBM can be applied to wall-mounted robots in which the first three joints are all coupled and affected by gravity. This mechanism is composed of pure mechanical components such as coil springs, differential gear structure, and belt-pulley system. A 6-DOF robot arm equipped with the proposed CBM was fabricated to verify the performance of gravity compensation. It is shown that the proposed 3-DOF CBM can effectively compensate for gravitational torques, thus drastically reducing the motor torques required to operate the robot.
UR - http://www.scopus.com/inward/record.url?scp=85081162516&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85081162516&partnerID=8YFLogxK
U2 - 10.1109/IROS40897.2019.8967817
DO - 10.1109/IROS40897.2019.8967817
M3 - Conference contribution
AN - SCOPUS:85081162516
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3571
EP - 3576
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -