Researches on the Positioning Device by Automatic Balancing

Abstract

In the case of applying a lever which swings about the horizontal axis by propotional control of an electric servomechanism to a manipulator's arm etc., it is difficult to position the manipulator's arm correctly according to the unbalance due to the grasping and releasing an object. In this paper, a balancing device using a movable counterweight is proposed for the purpose of positioning the arm correctly, and its characteristics and stability are studied. As a result of analysis, it is confirmed that such a balancing device is available for the manipulator's arm and automatic balancing device.