Byung-Yoon Moon

Wall-Mounted Robot Arm Equipped with 3-DOF Roll-Pitch-Pitch Counterbalance Mechanism

The use of high-capacity motors and harmonic drives increases the manufacturing cost and the energy consumption of the robot. It is well known that most motor torques are used to support the robot mass and payload. To deal with this problem, we propose a wall-mounted 3-DOF roll-pitch-pitch counterba…