Embedded Files
- Research Background
The use of high-power motor makes the robot dangerous and expensive.
If the gravitational torque can be compensated mechanically, robot can be more safely and cheaper by using low-power motors.
- Research Objectives
Development of novel counterbalance mechanism
Designing various robots using counterbalance mechanism
- Counterbalance mechanism (CBM)
* Features of counterbalance mechanisms
Compensates the gravitational torque by novel mechanism
Constructed with only mechanical components
Effectively reduces the motor power with equivalent robot specifications
- Counterbalance robot arm
SCORA-V
Figure
Specification
DOF
Reach
Payload
Weight
Repeatability
Feature
6
(R-P-P-R-P-R)
900 mm
7 kg
45 kg
0.1 mm
6 joint torque sensors
2-DOF CBM
* Features of SCORA-V
2 DOF slider-crank counterbalance mechanism embedded
All motors less than 100W
Hand guiding based on JTSs
Collision detection based on JTSs
* Demonstrations of SCORA-V
< Hand guiding & collision detection >
SCORA-H
Figure
Specification
DOF
Reach
Payload
Weight
Repeatability
Feature
6
(Y-P-Y-Y-R-R)
1,800 mm
25 kg
120 kg
0.2 mm
6-axis F/T sensor Gear-roller CBM
* Features of SCORA-H
Gear-roller counterbalance mechanism embedded
All motors less than 200W
Hand guiding assembly task based on 6-axis F/T sensor
Collision detection based on motor current sensing
* Demonstrations of SCORA-H
< Tire assembly & collision detection >
SCORA-W
Figure
Specification
DOF
Reach
Payload
Weight
Repeatability
Feature
6
(R-P-P-R-P-R)
1,000 mm
5 kg
30 kg
0.15 mm
Complex joint CBM
* Features of SCORA-W
Complex joint counterbalance mechanism (capable for R-P-P joints) embedded
All motors less than 100W
Hand guiding assembly task based on motor current sensing
Collision detection based on motor current sensing
KCR0510C
Figure
Specification
DOF
Reach
Payload
Weight
Repeatability
Feature
6
(R-P-P-R-P-R)
1,000 mm
5 kg
25 kg
0.2 mm
Collaborative robot with 2-DOF CBM
* Features of KCR0510C
2 DOF slider-crank counterbalance mechanism embedded inside the links
Collaborative robot composed of joint modules with 100W motor power
Hand guiding assembly task based on motor current sensing
Collision detection based on motor current sensing.
KCR2515C
Figure
Specification
DOF
Reach
Payload
Weight
Repeatability
Feature
6
(R-P-P-R-P-R)
1,500 mm
25 kg
45 kg
0.2 mm
6 joint torque sensors
Collaborative robot with 1-DOF CBM
* Features of KCR2515C
1 DOF slider-crank counterbalance mechanism embedded
Highest-payload collaborative robot
Hand guiding based on JTSs
Collision detection based on JTSs.
* Demonstration of KCR2515C
KU-WAD
Figure
Specification
DOF
Reach
Payload
Weight
Feature
7
(R-P-P-Y-R-P-R)
1,430 mm
3 kg
7 kg
2 DOF CBM
4 DOF gimbal mount
* Features of KU-WAD
2 DOF Wire-pulley counterbalance mechanism embedded
No motors or sensors required for gravity compensation
Hand guiding for payload handlin
Lightweight & slim design
* Demonstration of KU-WAD
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