Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Novel Gravity Compensation Mechanism by Using Wire-Winding

와이어 와인딩을 이용한 신개념 중력보상 메커니즘

  • Lee, DongGyu (School of Mechanical Engineering, Yeungnam University) ;
  • Lee, SangHo (School of Mechanical Engineering, Yeungnam University) ;
  • Park, JungWhan (School of Mechanical Engineering, Yeungnam University) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam University)
  • Received : 2016.03.07
  • Accepted : 2016.08.16
  • Published : 2016.09.01
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Abstract

In this paper, we propose a mechanism that can compensate for gravity in a robot manipulator. Industry robots generate torque due to carrying heavy weight. For this reason, the robots need high specification motors, which increases the prices of the robots and their production costs. In order to resolve these problems, a mechanism for gravity compensation has been developed using a spring and wire system. But this system has problems related to wire stretching. A winding mechanism is therefore used to supplement this drawback of the wire. The robot used was developed by the 1-DOF system. Analysis was performed for the performance of the mechanism. Experiments were conducted to compare simulation results and experimental results.

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References

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