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http://dx.doi.org/10.7735/ksmte.2016.25.6.511

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)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.25, no.6, 2016 , pp. 511-516 More about this Journal
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
Robot safety; Human-robot collaboration; Counterbalancing; Clamping force;
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