- Research Background
- Strong demand for high
performance but low-cost robot arms
- A multi-DOF counterbalance
mechanism is needed for robot manipulator.
- Research Objectives
- Development of a
multi-DOF counterbalance mechanism
- Development of a counterbalance
robot arm
- Multi-DOF
counterbalance mechanism
- Counterbalance mechanism
compensates for the gravitational torque generated from the robot mass.
- Multi-DOF counterbalance
mechanism based on parallelogram mechanism
- All ref. planes are parallel to each other and
normal to the ground at any time.
- Possible
counterbalancing of each link regardless of motion of other links
- Features of counterbalance
robot arm
(Minimization
of torque to operate robot arm)
- High payload with small
actuator and gear reducer
- Cost reduction
- Energy saving
- Improved safety:
human-robot collaboration
- Easy teaching and
playback
- Backdrivable + static
balancing without motor power
- No sensors or force
control required
|
|
