- Research Background The use of high-power motor makes the robot dangerous and expensive. If the gravitational torque can be compensated mechanically, robot can be more safely and cheaper by using low-power motors. - Research Objectives Development of novel counterbalance mechanism Designing various robots using counterbalance mechanism
- Counterbalance mechanism (CBM)    - Features of counterbalance mechanisms - Compensates the gravitational torque by novel mechanism. - Constructed with only mechanical components. - Effectively reduces the motor power with equivalent robot specifications.
- Counterbalance robot arm  * Features of SCORA-V - 2 DOF slider-crank
counterbalance mechanism embedded. - All motors less than 100W. - Human-robot collaboration based on JTS i. Collision detection ii. Hand guiding for direct teaching iii. Force/torque estimation  * Features of SCORA-H - Gear-roller counterbalance mechanism embedded. - All motors less than 200W. - Hand guiding assembly task based on 6-axis F/T sensor. - Collision detection based on motor current sensing.  * Features of KU-WAD
- 2 DOF Wire-pulley counterbalance mechanism embedded. - No motors or sensors required for gravity compensation. - Hand guiding for payload handling. - Lightweight & slim design
- Demonstration * Counterbalance mechanism WAD * Collision detection SCORA-H SCORA-V * Hand guiding SCORA-H SCORA-V * Impedance control / Force control SCORA-H SCORA-V |
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