NDLI: Multi-DOF Counterbalance Mechanism for a Service Robot Arm

Content Provider	IEEE Xplore Digital Library
Author	Hwi-Su Kim Jae-Bok Song
Copyright Year	1996
Abstract	Low-cost but high-performance robot arms are required for widespread use of service robots. Most robot arms use expensive motors and speed reducers to provide torques sufficient to support the robot mass and payload. If the gravitational torques due to the robot mass, which is usually much greater than the payload, can be compensated for by some means; the robot would need much smaller torques, which can be delivered by cheap actuator modules. To this end, we propose a novel counterbalance mechanism which can completely counterbalance the gravitational torques due to the robot mass. Since most 6-DOF robots have three pitch joints, which are subject to gravitational torques, we propose a 3-DOF counterbalance mechanism based on the double parallelogram mechanism, in which reference planes are provided to each joint for proper counterbalancing. A 5-DOF counterbalance robot arm was built to demonstrate the performance of the proposed mechanism. Simulation and experimental results showed that the proposed mechanism had effectively decreased the torque required to support the robot mass, thus allowing the prospective use of low-cost motors and speed reducers for high-performance robot arms.
Starting Page	1756
Ending Page	1763
Page Count	8
File Size	930052
File Format	PDF
ISSN	10834435
Volume Number	19
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Torque Springs Manipulators Service robots Wires manipulator design Counterbalance mechanism counterbalance robot arm low-cost robot
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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