On the design of a statically balanced serial robot using remote counterweights

Author

Lacasse, Marc-Antoine ; Lachance, Genevieve ; Boisclair, Julien ; Ouellet, Jeremie ; Gosselin, Clement

Author_Institution

Dept. of Mech. Eng., Univ. Laval, Quebec City, QC, Canada

fYear

2013

fDate

6-10 May 2013

Firstpage

4189

Lastpage

4194

Abstract

This paper presents a 7-DOF partially statically balanced robot that has been developed for physical human robot interaction. The gravity compensation technique uses remote counterweights connected to the robot via a low-pressure hydraulic transmission. Low-friction diaphragm cylinders are used in order to provide very low residual friction. A two-stage balancing bench allows using a unique moving counterweight to adapt the balancing to a payload of up to 10 kg, that is the maximal payload of the gripper. The robot can be easily moved passively while being capable of physically assisting humans in the performance of tasks.

Keywords

compensation; diaphragms; friction; grippers; human-robot interaction; hydraulic systems; shapes (structures); telerobotics; 7-DOF partially statically balanced robot; gravity compensation technique; gripper; low-friction diaphragm cylinders; low-pressure hydraulic transmission; physical human-robot interaction; remote counterweights; residual friction; statically balanced serial robot design; task performance; two-stage balancing bench; Gravity; Joints; Payloads; Potential energy; Robots; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Conference_Location

Karlsruhe

ISSN

1050-4729

Print_ISBN

978-1-4673-5641-1

Type

conf

DOI

10.1109/ICRA.2013.6631169

Filename

6631169