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Lightweight Multi-DOF Manipulator With Wire-Driven Gravity Compensation Mechanism

Title
Lightweight Multi-DOF Manipulator With Wire-Driven Gravity Compensation Mechanism
Author
서태원
Keywords
Gravity compensation; multi-degree-of-freedom (DOF); robot manipulator; tension; wire-driven mechanism
Issue Date
2017-06
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 22, no. 3, page. 1308-1314
Abstract
Energy consumption is a problem for robotic manipulators, which are popular in manufacturing, assembly, and process handling. Some of the most significant energy consumption comes from the weight of the large moving mass of the manipulator. This paper proposes a newmulti-degree-of-freedom (DOF) manipulator with a wire-driven gravity compensation mechanism. The most significant problem of a wire system is the durability of the wire, which is improved in this study by using a multiwinding mechanism. The tension of the wire is reduced in proportion to the number of windings. Timing belts are used to design a multi-DOF manipulator and the lightweight gravity compensation mechanism reduces inertia forces during operation. Static analysis and design issues are presented. A robotic prototype is assembled and the torque-reduction performance is verified experimentally. The proposed mechanism can be applied to industrial manipulators for efficient robotic operation.
URI
https://ieeexplore.ieee.org/document/7875422https://repository.hanyang.ac.kr/handle/20.500.11754/114689
ISSN
1083-4435; 1941-014X
DOI
10.1109/TMECH.2017.2681102
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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