EFFECT OF DYNAMIC LOADS ON THE GRAVITY COMPENSATION DESIGN OF SERIAL ROBOTS

抄録

This paper presents the effect of dynamic loads on the gravity compensation design of serial robots. In this study, the torque reduction index (TRI), the power reduction index (PRI), and the energy reduction index (ERI) are established to evaluate the dynamic performance of the robot. The significance of this study is that it can provide a comprehensive understanding of adopting a gravity compensation design for a robot with consideration of the dynamic loads. A three-degree-of-freedom (3-DoF) serial robot is taken as an example. The gravity compensation design for this robot is realized with the gear-spring mechanism (GSM) without using a parallelogram linkage. A case study is given to illustrate the performance of the gravity-compensated robot. It was shown that the gravity compensation design could reduce the actuator torque, power, and energy consumption of the robot even when the dynamic loads are considered. The effectiveness of the gravity compensation is more significant for low-speed operations.