Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism

Won Bum Lee; Byung Yoon Moon; Tae Jung Kim; Jae Bok Song

doi:10.1109/IROS40897.2019.8967817

Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism

Won Bum Lee, Byung Yoon Moon, Tae Jung Kim, Jae Bok Song

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3571-3576
Number of pages	6
ISBN (Electronic)	9781728140049
DOIs	https://doi.org/10.1109/IROS40897.2019.8967817
Publication status	Published - 2019 Nov
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China Duration: 2019 Nov 3 → 2019 Nov 8

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country	China
City	Macau
Period	19/11/3 → 19/11/8

ASJC Scopus subject areas

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

UN SDGs

This output contributes to the following Sustainable Development Goal(s)

Access to Document

10.1109/IROS40897.2019.8967817

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Lee, W. B., Moon, B. Y., Kim, T. J., & Song, J. B. (2019). Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 3571-3576). [8967817] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8967817

Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism. / Lee, Won Bum; Moon, Byung Yoon; Kim, Tae Jung; Song, Jae Bok.

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 3571-3576 8967817 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, WB, Moon, BY, Kim, TJ & Song, JB 2019, Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019., 8967817, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 3571-3576, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, China, 19/11/3. https://doi.org/10.1109/IROS40897.2019.8967817

Lee WB, Moon BY, Kim TJ, Song JB. Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 3571-3576. 8967817. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS40897.2019.8967817

Lee, Won Bum ; Moon, Byung Yoon ; Kim, Tae Jung ; Song, Jae Bok. / Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 3571-3576 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism",

abstract = "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.",

author = "Lee, {Won Bum} and Moon, {Byung Yoon} and Kim, {Tae Jung} and Song, {Jae Bok}",

note = "Funding Information: This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622) Funding Information: * This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622) Won-Bum Lee and Tae-Jung Kim are with the School of Mechanical Eng., Korea University, Seoul, Korea (e-mail: tiger1118@korea.ac.kr). Byung-Yoon Moon is with LG Electronics PRI, Gyeonggi-do, Korea Jae-Bok Song (corresponding author) is a Professor of the School of Mechanical Eng., Korea University, Seoul, Korea (Tel.: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: jbsong@korea.ac.kr). Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 ; Conference date: 03-11-2019 Through 08-11-2019",

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N1 - Funding Information: This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622) Funding Information: * This work was supported by IITP grant funded by the Korea Government MSIT. (No. 2018-0-00622) Won-Bum Lee and Tae-Jung Kim are with the School of Mechanical Eng., Korea University, Seoul, Korea (e-mail: tiger1118@korea.ac.kr). Byung-Yoon Moon is with LG Electronics PRI, Gyeonggi-do, Korea Jae-Bok Song (corresponding author) is a Professor of the School of Mechanical Eng., Korea University, Seoul, Korea (Tel.: +82 2 3290 3363; fax: +82 2 3290 3757; e-mail: jbsong@korea.ac.kr). Publisher Copyright: © 2019 IEEE.

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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.

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Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism

Abstract

Publication series

Conference

ASJC Scopus subject areas

UN SDGs

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