Gravity Compensator for the Roll-pitch Rotation
- Gravity Compensator for the Roll-pitch Rotation
- 조창현; 이우섭; 강성철
- static balancing; gravity compensation; manipulator; service robot
- Issue Date
- VOL 16, NO 7, 688-694
- 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.
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