- 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
- 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 Hand guiding based on JTSs Collision
detection based
on JTSs
* Demonstrations of SCORA-V < Hand guiding &
collision detection >
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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