기계식 중력보상 기반의 중량물 취급용 5자유도 로봇머니퓰레이터의 개발
Development of a 5 DOF Manipulator for Weight Handling based on Counterbalance Mechanism
2
조회
0
다운로드
7
인용
0
참고문헌
키워드
초록
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.
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.
참고문헌 (7)
- J. Fryman, "Safety of industrial robots: From conventional to collaborative applications", 7th German Conf. on Robotics, ROBOTIK, pp.1~5 (2012)
- "Safety in Human-Robot Collaboration"[URL]
- N. Takesue, "Design and Prototype of Variable Gravity Compensation Mechanism(VGCM)", Journal of Robotics and Mechatronics, 23(2), pp.249~257 (2011)
- H.S. Kim, "Low-cost robot arm with 3-DOF counterbalance mechanism", IEEE Int. Conf. on Robotics and Automation, pp.4168~4173 (2013)
- M.A. Lacasse, "On the design of a statically balanced serial robot using remote counterweights", IEEE Int. Conf. on Robotics and Automation, pp.4174~4179 (2013)
- I. H. Kang, "Counterbalance Mechanism based on Gears and Rollers", KSME Spring Conf. on Dynamics and Control, pp.174~175 (2013)
- J.T. Seo, "Design of a new counter-balancing stackable mechanism", IEEE Int. Conf. on Robotics and Automation, pp.2372~2377 (2014)