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Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer

Published online by Cambridge University Press:  14 January 2019

Mitsunori Uemura ,
Yuki Mitabe  and
Sadao Kawamura
Mitsunori Uemura*
Affiliation:
School of Engineering Science, Osaka University, Osaka, Japan
Yuki Mitabe
Affiliation:
Department of Robotics, Ritsumeikan University, Shiga, Japan
Sadao Kawamura
Affiliation:
Department of Robotics, Ritsumeikan University, Shiga, Japan
*
*Corresponding author. E-mail: [email protected]
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Summary

In this paper, we propose a novel mechanism to compensate for gravity and the gripping force in a hand-arm robot. This mechanism compensates for the gravitational torque produced by an object gripped by the hand-arm robot. The gripping force required for the robot hand to prevent the object from dropping is also simultaneously compensated for. This mechanism requires only one actuator placed on the shoulder part of the robot. Therefore, this mechanism can reduce the torque requirement of joint actuators and lower the weight of the robot. The gear ratio of the reduction gears in each robot joint can then also be reduced. These advantages are critical for future robots that perform tasks in unstructured environments and collaborate with humans. We carried out experiments with a 6-DoF robot arm having a 1-DoF gripper to demonstrate the effectiveness of the proposed mechanism.

Keywords

Gravity compensationGripping force compensationHand-arm robotWire-driven robotLightweight robotLow-reduction reducer
Type
Articles
Information
Robotica , Volume 37 , Issue 6 , June 2019 , pp. 1090 - 1103
Copyright
Copyright © Cambridge University Press 2019 

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