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http://dx.doi.org/10.5916/jkosme.2011.35.1.060

Experimental Study of the Robot Arm Applying the Gravity Compensator  

Choi, Hyeung-Sik (한국해양대학교 기계공학과)
Seo, Hae-Yong (한국해양대학교 기계공학과)
Uhm, Tai-Woong (한국해양대학교 기계공학과)
Yoon, Jong-Su (한국해양대학교 기계공학과)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.35, no.1, 2011 , pp. 60-67 More about this Journal
Abstract
In this paper, the structure of a gravity compensator(GC) was studied, and the 6-axis robot manipulator which is newly developed by applying the GC is presented to improve the torque performance and repeatability error of the robot joint. The kinematics analysis on the robot was presented. Also, experiments of the performance of the joint actuator of robot adopting the gravity compensator were presented by the GC to $1^{st}$ and $2^{nd}$ joints of the robot arm. According to the experiment results, it was validated that the position errors and load torque of the robot joint actuator adopting the GC are reduced significantly.
Keywords
Robot arm; Gravity compensator; Repeatability error;
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