Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Safe Industrial Manipulator Based on a Counterbalancing Mechanism with Adaptation to the Posture Change of a Robot Base Plane

로봇 설치면 자세 변화에 대응 가능한 자중 보상 기반 안전 매니퓰레이터

  • Do, Hyun Min (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Hwi-Su (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Doo Hyeong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Choi, Tae-Yong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Dong Il (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Son, Youngsu (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
  • Received : 2016.10.12
  • Accepted : 2016.11.25
  • Published : 2016.12.15
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Abstract

Guaranteeing the safety of human workers around robots has become an important issue with the increasing demand for human-robot collaboration in industrial production lines. This study proposes a robot manipulator equipped with a counterbalancing mechanism that reduces the power of actuators required to drive the robot, thus keeping a human worker safer in a human-robot collaborative environment. A counterbalancing torque that exactly cancels out the gravitational torque in the proposed mechanism is generated by restoring the force of a spring in the counterbalancing mechanism. A prototype design and experimental results are presented to verify the effectiveness of the proposed method.

Keywords

References

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