Journal of Advanced Marine Engineering and Technology

  • 제33권2호
  • /
  • Pages.226-232
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  • 2009
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  • 2234-7925(pISSN)
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  • 2234-8352(eISSN)
한국마린엔지니어링학회 (The Korean Society of Marine Engineering)
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로봇팔을 위한 중력보상기 연구

A Study on a Gravity Compensator for the Robot Arm

  • 최형식 (한국해양대학교 기계정보 공학부) ;
  • 김동호 (한국해양대학교 대학원 기계공학과) ;
  • 허재관 (한국해양대학교 대학원 기계공학과)
  • 발행 : 2009.03.31
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초록

In this paper, a design and analysis of a gravity compensator which is a new device to reduce the joint torque of robots caused due to gravity is presented. Joints of all robots are loaded by large torques due to gravity. By applying the gravity compensator to the robot joints, the load torques applied to the robot joints are reduced by the repulsive force of the gravity compensator such that the size of the joint actuation motor can be reduced. In this paper, the structure and force relation of the gravity compensator are analyzed. The superior performance of the proposed gravity compensator is verified through experiments which measure the joint motor current caused by the load applied to the robot link.

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참고문헌

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