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


SCORA-V

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




   * 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 >


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


   * Features of KCR0510C
  • 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.


KCR2515C

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


   * Features of KCR2515C
  • 1 DOF slider-crank counterbalance mechanism embedded
  • Highest-payload collaborative robot
  • Hand guiding based on JTSs
  • Collision detection based on JTSs.


* Demonstration of KCR2515C


KU-WAD

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

 

   * 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




Comments