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http://dx.doi.org/10.3795/KSME-A.2014.38.3.289

Manipulator Equipped with Counterbalance Mechanism Based on Gear Unit  

Kang, In Ho (School of Mechanical Engineering, Korea Univ.)
Kim, Hwi Su (School of Mechanical Engineering, Korea Univ.)
Song, Jae-Bok (School of Mechanical Engineering, Korea Univ.)
Lee, Hyun Soo (Hyundai motor Group)
Chang, In Sung (Hyundai motor Group)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.38, no.3, 2014 , pp. 289-294 More about this Journal
Abstract
Industrial manipulators are usually heavy given the payloads they carry. Therefore, they require high-capacity servomotors and speed reducers, which leads to high costs. However, if manipulator weight could be compensated for using a counterbalance mechanism, the motors' and speed reducers' capacities could be minimized substantially. However, it is usually difficult to assure durability and reliability with the conventional wire-based counterbalance mechanism. Therefore, a more robust gear- and roller-based counterbalance mechanism is proposed in this study. A manipulator was developed using this mechanism; this manipulator maintains its performance even when using motors and reducers of lower capacities. The results of various simulations and experiments verified that the proposed mechanism provides the torque required to compensate for gravitational torque in any configuration and minimizes the torque required for supporting a large payload.
Keywords
Industrial Manipulator; Gravity Compensation; Counterbalance Mechanism;
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