An improved counterbalance mechanism for A 3-DOF manipulator
Email tác giả liên hệ:
ptcong@hcmut.edu.vnTừ khóa:
Lead-through programming, improved counterbalance mechanism, 3-DOF manipulator, industrial robots , common structureTóm tắt
This paper describes an improved counterbalance mechanism fitting with the common structure of industrial robot arms. We have also developed three degree of freedom (DOF) manipulator, whose structural design resembles industrial robots, aiming to apply Lead-through programming. To verify the mechanism, the robot was designed to carry a load of 3 kg at the end of effector, which is equivalent to a concentrated weight of last three DOFs having type of spherical wrists. As a result, the robot can remain any postures in its workspace even maximum horizontal reach without auxiliary actuators. Furthermore, the robot was handled successfully to be programmed by Lead-through method. In summary, the improvement is practical for general industrial robots.
Tải xuống: 0
Tài liệu tham khảo
Kuk-Hyun Ahn, Won-Bum Lee, and Jae-Bok Song, Reduction in Gravitational Torques of an Industrial Robot Equipped with 2 DOF Passive Counterbalance Mechanisms, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), pp. 4344 – 4349, Daejeon, Korea, 2016.
Gen Endo, Hiroya Yamada, Akira Yajima, Masaru Ogata, and Shigeo Hirose, A Passive Weight Compensation Mechanism with a Non-Circular Pulley and a Spring, IEEE International Conference on Robotics and Automation 9ICRA 2010), pp.3843 – 3848, Alaska, USA, 2010.
Nathan Ulrich, and Vijay Kumar, Passive Mechanical Gravity Compensation for Robot Manipulators, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, pp. 1536 – 1541, California, USA, 1991
Hwi-Su Kim, and Jae-Bok Song, Multi-DOF Counterbalance Mechanism for a Service Robot Arm, IEEE/ASME Transactions on Mechatronics, Vol. 19, No. 6, pp. 1756-1763, 2014.
Vigen H. Arakelian, and Sébastien Briot, Balancing of Linkages and Robot Manipulators, Springer, 2015.
Lelai Zhou, Shaoping Bai, and Michael Rygaard Hansen, Integrated dimensional and drive-train design optimization of a light-weight anthropomorphic arm, Robotics and Autonomous Systems, Vol. 60, pp. 113-122, 2012.
Tải xuống
Đã Xuất bản
Cách trích dẫn
Số
Chuyên mục
Categories
Giấy phép
Tác phẩm này được cấp phép theo Giấy phép quốc tế Creative Commons Attribution-NonCommercial 4.0 .
Bản quyền thuộc về JTE.
