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

  • 제25권6호
  • /
  • Pages.511-516
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  • 2016
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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로봇 설치면 자세 변화에 대응 가능한 자중 보상 기반 안전 매니퓰레이터

Safe Industrial Manipulator Based on a Counterbalancing Mechanism with Adaptation to the Posture Change of a Robot Base Plane

  • 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)
  • 투고 : 2016.10.12
  • 심사 : 2016.11.25
  • 발행 : 2016.12.15
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초록

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.

키워드

참고문헌

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