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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3571-3576
Number of pages6
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - 2019 Nov
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 2019 Nov 32019 Nov 8

Publication series

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

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period19/11/319/11/8

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism'. Together they form a unique fingerprint.

  • Cite this

    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