Low-inertia serial manipulator with counterbalance mechanism

This paper proposes a new wire-based counterbalance mechanism for robot manipulator. Industrial robots require high torque due to the large weight. For this reason, a robot should be operated by a high torque motor. The use of a high torque motor increases the producing and operating costs of the robot. In order to resolve the problem, a novel mechanism for gravity compensation is proposed using a spring and a wire. To solve the problem of spring and wire during stretched, the multiple winding mechanism is used. The static analysis is performed to verify the compensation performance. Experiments are going to be performed after assembling the designed prototype soon.