• Compensates the gravitational torque by novel mechanism
• Constructed with only mechanical components
• Effectively reduces the motor power with equivalent robot specifications

- Counterbalance robot arm

Figure	Specification
	DOF	6 (R-P-P-R-P-R)
	Reach	900 mm
	Payload	7 kg
	Weight	45 kg
	Repeatability	0.1 mm
	Feature	6 joint torque sensors 2-DOF CBM

   * Features of SCORA-V

• 2 DOF slider-crank counterbalance mechanism embedded
• All motors less than 100W
• Hand guiding based on JTSs
• Collision detection based on JTSs

* Demonstrations of SCORA-V

< Hand guiding & collision detection >

SCORA-H

Figure	Specification
	DOF	6 (Y-P-Y-Y-R-R)
	Reach	1,800 mm
	Payload	25 kg
	Weight	120 kg
	Repeatability	0.2 mm
	Feature	6-axis F/T sensor Gear-roller CBM

• 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

* Demonstrations of SCORA-H

< Tire assembly & collision detection >

SCORA-W

Figure	Specification
	DOF	6 (R-P-P-R-P-R)
	Reach	1,000 mm
	Payload	5 kg
	Weight	30 kg
	Repeatability	0.15 mm
	Feature	Complex joint CBM

   * Features of SCORA-W

• Complex joint counterbalance mechanism (capable for R-P-P joints) embedded
• All motors less than 100W
• Hand guiding assembly task based on motor current sensing
• Collision detection based on motor current sensing

KCR0510C

Figure	Specification
	DOF	6 (R-P-P-R-P-R)
	Reach	1,000 mm
	Payload	5 kg
	Weight	25 kg
	Repeatability	0.2 mm
	Feature	Collaborative robot with 2-DOF CBM

• 2 DOF slider-crank counterbalance mechanism embedded inside the links
• Collaborative robot composed of joint modules with 100W motor power
• Hand guiding assembly task based on motor current sensing
• Collision detection based on motor current sensing.

Figure	Specification
	DOF	6 (R-P-P-R-P-R)
	Reach	1,500 mm
	Payload	25 kg
	Weight	45 kg
	Repeatability	0.2 mm
	Feature	6 joint torque sensors Collaborative robot with 1-DOF CBM

• 1 DOF slider-crank counterbalance mechanism embedded
• Highest-payload collaborative robot
• Hand guiding based on JTSs
• Collision detection based on JTSs.

* Demonstration of KCR2515C

Figure	Specification
	DOF	7 (R-P-P-Y-R-P-R)
	Reach	1,430 mm
	Payload	3 kg
	Weight	7 kg
	Feature	2 DOF CBM 4 DOF gimbal mount