• Korean Institute of Interior Design Journal
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• v.24 no.1
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• pp.64-71
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• 2015

This study aims to disclose the dynamics of Daniel Libeskind Museums by the principles of counterbalance. Balance as a dynamic concept is the settlement of instability and tension and to draw overall sense of balance by controlling new perception elements that may cope with the unbalance elements. This is based on balancing compensation and can be explained as a counterbalance. Daniel Libeskind, a representative architect of deconstructivism, creates dynamic space by using oblique lines on the plane. The study was carried out under the assumption that this space would be designed under the certain principles rather than the result of momentary feelings and the analysis was conducted by the counterpoint of music and counterbalance. As a result, Daniel Libeskind balances in a way of forming the mutual right angle by using oblique lines which cancel out the unbalance in plane composition or making the same angle based on vertical / horizontal axis. Counterbalance has been achieved in the section and elevation as well as plane and complex and diverse oblique lines were worked under the constant principle not accidental results. The axes of Daniel Libeskind's architecture have been known to follow contextualism with symbolism and historicity but it was found that a design technique considering counterbalance was used in the overall control.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.11-18
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• 2017

Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.48-54
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• 2020

Home robot arms require a payload of 2 kg to perform various household tasks; at the same time, they should be operated by low-capacity motors and low-cost speed reducers to ensure reasonable product cost. Furthermore, as robot arms on mobile platforms are battery-driven, their energy efficiency should be very high. To satisfy these requirements, we designed a lightweight counterbalance mechanism (CBM) based on a spring and a wire and developed a home robot arm with five degrees of freedom (DOF) based on this CBM. The CBM compensates for gravitational torques applied to the two pitch joints that are most affected by the robot's weight. The developed counterbalance robot adopts a belt-pulley based parallelogram mechanism for 2-DOF gravity compensation. Experiments using this robot demonstrate that the CBM allows the robot to meet the above-mentioned requirements, even with low-capacity motors and speed reducers.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.3
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• pp.289-294
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• 2014

Industrial manipulators are usually heavy given the payloads they carry. Therefore, they require high-capacity servomotors and speed reducers, which leads to high costs. However, if manipulator weight could be compensated for using a counterbalance mechanism, the motors' and speed reducers' capacities could be minimized substantially. However, it is usually difficult to assure durability and reliability with the conventional wire-based counterbalance mechanism. Therefore, a more robust gear- and roller-based counterbalance mechanism is proposed in this study. A manipulator was developed using this mechanism; this manipulator maintains its performance even when using motors and reducers of lower capacities. The results of various simulations and experiments verified that the proposed mechanism provides the torque required to compensate for gravitational torque in any configuration and minimizes the torque required for supporting a large payload.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.8
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• pp.9-18
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• 2022

As the COVID-19 continues, the demand for robotic technology that can be applied in face-to-face tasks such as delivery and transportation, is increasing. Although these technologies have been developed and applied in various industries, the robots can only be operated in a tidy indoor environment and have limitations in terms of payload. To overcome these problems, we developed a 2 degree of freedom(DOF) environmental adaptive robot leg with a double 1-DOF counterbalance mechanism (CBM) based on wire roller. The double 1-DOF CBM is applied to the two revolute joints of the proposed robot leg to compensate for the weight of the mobile robot platform and part of the payload. In addition, the link of the robot leg is designed in a parallelogram structure based on a belt pulley to enable efficient control of the mobile platform. In this study, we propose the principle and structure of the CBM that is suitable for the robot leg, and design of the counterbalance robot leg module for the environment-adaptive control. Further, we verify the performance of the proposed counterbalance robot leg by using dynamic simulations and experiments.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.242-247
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• 2016

A robot manipulator handling a heavy weight requires high-capacity motors and speed reducers, which increases the cost of a robot and the risk of injury when a human worker is in collaboration with a robot. To cope with this problem, we propose a collaborative manipulator equipped with a counterbalance mechanism which compensates mechanically for a gravitational torque due to the robot mass. The prototype of the manipulator was designed on the basis of a four-bar linkage structure which contains active and passive pitch joints. Experimental performance evaluation shows that the proposed robot works effectively as a collaborative robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.6
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• pp.469-475
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• 2017

Workers in industrial fields are highly exposed to accidents or injuries caused by long working hours. An exoskeleton that is able to support the arm muscles of the worker and thereby reduce the probability of an accident and enhance working efficiency could be a solution to this problem. However, existing exoskeletons demand the use of high-priced sensors and motors, which makes them difficult to use in industrial fields. To solve this problem, we developed an arm assisting exoskeleton that consists only of mechanical components without any electronic sensors or motors. The exoskeleton follows the movement of the human arm by shoulder joint and ankle joint. In addition, counterbalance mechanisms are installed on the exoskeleton to support arm strength. The experimental validation of the exoskeleton was conducted using an EMG sensor, confirming the performance of the exoskeleton.

• Aerospace Engineering and Technology
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• v.11 no.1
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• pp.7-18
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• 2012

Full-scale static test was introduced for the KC-100 aircraft which is domestic civil aircraft to be certified for the first time. Test requirement, test frame, and important test stystems such as loading system, counterbalance system, restraint system and jacking system are explained in detail. Especially, the way to satisfy compliance for the installation of test article and loading system is introduced by using check sheets for the installations. 15 Full-scale and 7 local test conditions were successfully completed and the test data was obtained.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.688-694
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• 2010

This paper presents a gravity compensator for the manipulator of a service robot. The manipulator of a service robot is operated with low velocity for the safety reason in most cases. In this situation gravitational torques generated by the mass of links are often much greater than dynamic torques for motion. A gravity compensator can counterbalance the gravitational torques, thereby enabling to utilize relatively low power motors. In this paper the gravity compensation for the roll-pitch rotation is considered which is often used for the shoulder joints of the manipulator of a service robot or humanoid robot. A gimbals is implemented and two 1-dof gravity compensators are equipped at the base. One compensates the gravitational torque at the roll joint and another provides the compensational torque for the gimbals. Various analyses showed that the proposed compensator can counterbalance the gravitational torques of 87% at the pitch joint and 50% at the roll joint. It is verified from dynamic simulations that the proposed compensator effectively counterbalances the gravitational torques.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.283-288
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• 2001

This study provides analytical evaluation of the Dual-Ann Work Module. The current hydraulic system was modeled using the HyPneu and analyzed to find the cause of the instability. The cause of the instability was determined to be primarily an interacting involving the pilot operated check valves and the counterbalance valves for fail safe mode of operation. A new design concept was developed to eliminate the potential for unstable operation while adequately meeting the need for a fail-safe feature.