Counterbalance Robot Arm

Research Background

• Strong demand for high performance but low-cost robot arms

• A multi-DOF counterbalance mechanism is needed for robot manipulator.

Research Objectives

• Development of a multi-DOF counterbalance mechanism

• Development of a counterbalance robot arm

Multi-DOF counterbalance mechanism

• Counterbalance mechanism compensates for the gravitational torque generated from the robot mass.

• Multi-DOF counterbalance mechanism based on parallelogram mechanism

  • All ref. planes are parallel to each other and normal to the ground at any time.

  • Possible counterbalancing of each link regardless of motion of other links

Features of counterbalance robot arm

(Minimization of torque to operate robot arm)

• High payload with small actuator and gear reducer

• Cost reduction

• Energy saving

• Improved safety: human-robot collaboration

• Easy teaching and playback

  • Backdrivable + static balancing without motor power

  • No sensors or force control required

Research Output

• COBRA

• • Industrial Counterbalance Robot Arm