로봇팔을 위한 중력보상기 연구
A Study on a Gravity Compensator for the Robot Arm
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In this paper, a design and analysis of a gravity compensator which is a new device to reduce the joint torque of robots caused due to gravity is presented. Joints of all robots are loaded by large torques due to gravity. By applying the gravity compensator to the robot joints, the load torques applied to the robot joints are reduced by the repulsive force of the gravity compensator such that the size of the joint actuation motor can be reduced. In this paper, the structure and force relation of the gravity compensator are analyzed. The superior performance of the proposed gravity compensator is verified through experiments which measure the joint motor current caused by the load applied to the robot link.
Abstract
In this paper, a design and analysis of a gravity compensator which is a new device to reduce the joint torque of robots caused due to gravity is presented. Joints of all robots are loaded by large torques due to gravity. By applying the gravity compensator to the robot joints, the load torques applied to the robot joints are reduced by the repulsive force of the gravity compensator such that the size of the joint actuation motor can be reduced. In this paper, the structure and force relation of the gravity compensator are analyzed. The superior performance of the proposed gravity compensator is verified through experiments which measure the joint motor current caused by the load applied to the robot link.
참고문헌 (7)
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