Robot arm having weight compensation mechanism
AssigneesSamsung Electronics Co., Ltd., Korea University of Technology and Education Industry-University Cooperation Foundation
InventorsJeong Heon Han, Yong-Jae Kim
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Abstract
A robot arm having a weight compensation mechanism. In one configuration, the robot arm includes a first link which is pivotably disposed, a first auxiliary link disposed parallel to the first link, a first pulley mounted on the first auxiliary link, a second pulley mounted on the first link, a wire connecting the first pulley to the second pulley, and an elastic member having one side mounted on the first link and the other side connected to the wire to provide an elastic force to compensate for the load of the first link.
Claims21
A robot arm comprising:
- a first link of the robot arm, the first link pivotably disposed;
- a first auxiliary link of the robot arm disposed parallel to the first link;
- a first pulley mounted on the first auxiliary link;
- a second pulley mounted on the first link;
- a wire connecting the first pulley to the second pulley;
- and
- an elastic member having one side mounted on the first link and another side connected to the wire to provide an elastic force to compensate for a load of the first link,
- wherein the wire has:
- one end portion thereof fixed to the first pulley, and
- another end portion thereof configured to pass along a portion of an outer surface of the second pulley and connected to the elastic member.
A robot arm comprising:
- a first link of the robot arm;
- a second link of the robot arm configured to remain parallel to the first link when the first link pivots;
- and
- a weight compensation mechanism to compensate for a load of the first link by an elastic force, comprising:
- a first pulley mounted on the first link,
- a second pulley having a same diameter as that of the first pulley and mounted on the second link,
- a wire connecting the first pulley to the second pulley, and
- an elastic member disposed along a direction in which the first link longitudinally extends, configured to provide the elastic force to compensate for the load, and having one side fixed to the first link and another side connected to the wire,
- wherein the wire has:
- one end portion thereof fixed to the first pulley, and
- another end portion thereof configured to pass along a portion of an outer surface of the second pulley and connected to the elastic member.
A robot arm comprising:
- a first link of the robot arm, the first link pivotable about a joint;
- a pivotable first auxiliary link of the robot arm disposed parallel to the first link, such that when the first link pivots about the joint along a pivot path, the first auxiliary link remains parallel to the first link and an interval between the first auxiliary link and the first link decreases;
- a first pulley mounted on the first auxiliary link;
- a second pulley mounted on the first link, such that a distance between the first pulley and the second pulley increases when the first link pivots along the pivot path;
- an elastic member having a first side mounted on the first link;
- and
- a wire having a first end portion fixed to the first pulley, a second end portion attached to a second side of the elastic member, and a section taut against the second pulley, such that the elastic member provides an elastic force biasing the first and second pulleys toward each other to compensate against a load of the first link tending to pivot the first link along the pivot path.
Dependencies are inferred from the claim text.