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http://dx.doi.org/10.5916/jkosme.2010.34.2.267

Study on Robot Manipulator applying the Gravity Compensator  

Choi, Hyeung-Sik (한국해양대학교 기계공학과)
Hur, Jae-Gwan (한국해양대학교 기계공학과 대학원)
Seo, Hae-Yong (한국해양대학교 기계공학과 대학원)
Hong, Sung-Yul (한국해양대학교 기계공학과 대학원)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.34, no.2, 2010 , pp. 267-274 More about this Journal
Abstract
In this paper, the structure of a gravity compensator was studied, and the 6-axis robot manipulator which is newly developed by applying the gravity compensator is presented to improve the torque performance of the robot joint. The kinematics analysis on the robot was presented. Also, a simulation of the performance of the joint actuator of robot adopting the gravity compensator was presented by applying various springs. According to the simulation results, it was validated that the payload effect on the robot joint actuator adopting the gravity compensator is reduced in proportion to the spring intensity of the gravity compensator.
Keywords
Robot manipulator; Gravity compensator;
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