Static balancing of planar articulated robots

doi:10.1007/s11465-015-0355-9

Frontiers of Mechanical Engineering

2015, Vol. 10

Issue (4): 326-343 https://doi.org/10.1007/s11465-015-0355-9

本期目录

Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN(

)

Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino 10129, Italy

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Abstract：

Static balancing for a manipulator’s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects: One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures: The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and (hydro-) pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.

Key words： robotics static balancing pneumatic spring mechanical spring torque compensation

收稿日期: 2015-04-28 出版日期: 2015-12-03

Corresponding Author(s): Zhe YIN

引用本文:

. [J]. Frontiers of Mechanical Engineering, 2015, 10(4): 326-343.
Giuseppe QUAGLIA,Zhe YIN. Static balancing of planar articulated robots. Front. Mech. Eng., 2015, 10(4): 326-343.

链接本文:

https://academic.hep.com.cn/fme/CN/10.1007/s11465-015-0355-9
https://academic.hep.com.cn/fme/CN/Y2015/V10/I4/326

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