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)








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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
  • Hand guiding based on JTSs
  • Collision detection based on JTSs


* Demonstrations of SCORA-V

< Hand guiding & collision detection >





   * 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


* Demonstrations of SCORA-H

< Tire assembly & collision detection >



* 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



* Features of KUDEX-6D-C

  • 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.


    * Features of KU-WAD
  • 2 DOF Wire-pulley counterbalance mechanism embedded 
  • No motors or sensors required for gravity compensation
  • Hand guiding for payload handlin
  • Lightweight & slim design


* Demonstration of KU-WAD




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