Abstract
This paper describes a principle, a design and an evaluation of a light-weight safe arm equipped with 3-dimensional gravity compensation mechanism for a collaborating robot. This arm realizes the gravity compensation for 3-dimensional arm posture by the addition of a rotary joint to the base of a pantograph mechanism and arranging links and counterweights to balance the center of gravity. It is possible to reduce the weight of the arm by using joint driving motors as counterweights. Moreover, this arm is equipped with a compensation force adjustment mechanism using wires to make the mechanism compact. Since application of this mechanism makes it is possible to adjust the compensation force according to the payload, joint driving motors can be made smaller. Based on the simulation result and the experimental result of the developed arm, it was confirmed that the arm is able to reduce the joint torque by 75% - 85% by the effect of this gravity compensation mechanism.
| Original language | English |
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| Title of host publication | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 40-45 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509059980 |
| DOIs | |
| Publication status | Published - 2017 Aug 21 |
| Event | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 2017 Jul 3 → 2017 Jul 7 |
Other
| Other | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
|---|---|
| Country/Territory | Germany |
| City | Munich |
| Period | 17/7/3 → 17/7/7 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Software