A novel adaptive balance-drive mechanism for industrial robots using a series elastic actuator

ABSTRACT

To compensate the joint torque of Axis-II caused by end loading and mass of links in industrial robots, static balancing mechanisms are generally used. There are several existing balancing mechanism techniques. However, as these techniques lack autonomy, continuity and dynamics, they cannot completely compensate the joint torque in the presence of dynamic or multiple types of loads. In this paper, a new balancing mechanism technique for industrial robots, based on series elastic actuator (SEA) devices is presented. Simulation and experimental results prove that the devices combine the effects of the balancing mechanism and driving motor of Axis-II, as well as increase load capacity and flexibility. Therefore, this technique can be used to devise a novel dynamic balancing cylinder for heavily loaded industrial robots with active control ability, and simultaneously improve the load-to-weight ratio.

KEYWORDS:

• Balancing cylinder
• series elastic actuator
• industrial robot
• adaptive

Authors Contribution

Huashan Feng Was in Charge of the Whole Trial and Wrote the Manuscript; Dewang Mao Assisted with Sampling and Laboratory Analyses; Yaping Xu Guided the Research Direction.

Disclosure Statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by National Natural Science Foundation of China [Grant No. 51375390, 51475373] and Shaanxi Key Research and Development Program [Grant No. 2018ZDCXL-GY-06-08].