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http://dx.doi.org/10.7746/jkros.2016.11.4.242

Development of a 5 DOF Manipulator for Weight Handling based on Counterbalance Mechanism  

Song, Seung Woo (Mechanical Engineering, Korea University)
Song, Jae Bok (Mechanical Engineering, Korea University)
Publication Information
The Journal of Korea Robotics Society / v.11, no.4, 2016 , pp. 242-247 More about this Journal
Abstract
A robot manipulator handling a heavy weight requires high-capacity motors and speed reducers, which increases the cost of a robot and the risk of injury when a human worker is in collaboration with a robot. To cope with this problem, we propose a collaborative manipulator equipped with a counterbalance mechanism which compensates mechanically for a gravitational torque due to the robot mass. The prototype of the manipulator was designed on the basis of a four-bar linkage structure which contains active and passive pitch joints. Experimental performance evaluation shows that the proposed robot works effectively as a collaborative robot.
Keywords
Robot manipulator; Counterbalance mechanism; Collaboration;
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