The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of a 5 DOF Manipulator for Weight Handling based on Counterbalance Mechanism

기계식 중력보상 기반의 중량물 취급용 5자유도 로봇 머니퓰레이터의 개발

  • Received : 2015.12.16
  • Accepted : 2016.06.22
  • Published : 2016.11.30
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Abstract

A robot manipulator handling a heavy weight requires high-capacity motors and speed reducers, which increases the cost of a robot and the risk of injury when a human worker is in collaboration with a robot. To cope with this problem, we propose a collaborative manipulator equipped with a counterbalance mechanism which compensates mechanically for a gravitational torque due to the robot mass. The prototype of the manipulator was designed on the basis of a four-bar linkage structure which contains active and passive pitch joints. Experimental performance evaluation shows that the proposed robot works effectively as a collaborative robot.

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References

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