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

Hideichi Nakamoto, Nobuto Matsuhira

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ40-45
ページ数6
ISBN(電子版)9781509059980
DOI
出版ステータスPublished - 2017 8 21
イベント2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
継続期間: 2017 7 32017 7 7

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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