Development of an arm for collaborative robot equipped with gravity compensation mechanism according to payload

Hideichi Nakamoto, Nobuto Matsuhira

Research output: ResearchConference contribution

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.

LanguageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages40-45
Number of pages6
ISBN (Electronic)9781509059980
DOIs
StatePublished - 2017 Aug 21
Externally publishedYes
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: 2017 Jul 32017 Jul 7

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period17/7/317/7/7

Fingerprint

Gravitation
Robots
Compensation and Redress
Pantographs
Torque
Wire

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Nakamoto, H., & Matsuhira, N. (2017). Development of an arm for collaborative robot equipped with gravity compensation mechanism according to payload. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 40-45). [8013992] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/AIM.2017.8013992

Development of an arm for collaborative robot equipped with gravity compensation mechanism according to payload. / Nakamoto, Hideichi; Matsuhira, Nobuto.

2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 40-45 8013992.

Research output: ResearchConference contribution

Nakamoto, H & Matsuhira, N 2017, Development of an arm for collaborative robot equipped with gravity compensation mechanism according to payload. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8013992, Institute of Electrical and Electronics Engineers Inc., pp. 40-45, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 17/7/3. DOI: 10.1109/AIM.2017.8013992
Nakamoto H, Matsuhira N. Development of an arm for collaborative robot equipped with gravity compensation mechanism according to payload. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc.2017. p. 40-45. 8013992. Available from, DOI: 10.1109/AIM.2017.8013992
Nakamoto, Hideichi ; Matsuhira, Nobuto. / Development of an arm for collaborative robot equipped with gravity compensation mechanism according to payload. 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 40-45
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