Research‎ > ‎Robot Arms‎ > ‎Robot manipulator‎ > ‎

Counter-balance robot

- 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


* Collision detection



* Hand guiding



* Impedance control / Force control