A Balancing Mechanism for an Anthropomorphic Robot

Abstract:

This paper shows an approach to statically balance an anthropomorphic robot with two degrees of freedom (DOF). Energy transfer is introduced to illustrate the way energy exchanged between the robot and a proposed balancing system. The balancing system, which consists of pulley, belt, cross mechanism and spring accumulators, is designed to balance the linkages of the robot. Two solutions for spring and accumulators are explained as pneumatic and hydro-pneumatic way. Perfectly static balancing is realized with the balancing system. The balanced robot has a wide workspace and an adjustable payload according to different industrial tasks.

• Periodical: Advanced Materials Research (Volumes 774-776)
• Pages: 1397-1403
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.774-776.1397
• Online since: September 2013
• Authors: Giuseppe Quaglia, Zhe Yin
• Keywords: Cross Mechanism, Hydro-Pneumatic Spring, Pneumatic Spring, Static Balancing

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