Multi-DOF Counterbalance Mechanism for a Service Robot Arm

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 t...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2014-12, Vol.19 (6), p.1756-1763
Hauptverfasser:	Kim, Hwi-Su, Song, Jae-Bok
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Counterbalance mechanism counterbalance robot arm Counterbalances Joints low-cost robot manipulator design Manipulators Motors Parallelograms Payloads Robot arms Robots Service robots Springs Torque Wires
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