중력보상기를 적용한 다관절 로봇의 연구

Abstract

In this paper, the structure of a gravity compensator was studied, and the 6-axis manipulator robot applying the gravity compensator was presented to improve the performance of the robot. The robot had 6 DOF and is driven by the joint actuator adopting the gravity compensator. The weight of the robot was designed to be 30kg but to deal with 25kg payload thanks to the gravity compensator. The kinematics analysis on the robot was presented. Also, a simulation of the robot performance was presented by applying various payloads. According to the simulation results, it was validated that the payload effect on the joint actuator adopting the gravity compensator is reduced in proportion to the spring intensity of the gravity compensator.