2016
Reduction in gravitational torques of an industrial robot equipped with 2 DOF passive counterbalance mechanisms
IROS 2016poster
In most 6 DOF robot arms, considerable amounts of gravitational torques due to the robot's own weight are applied to pitch joints of the robot, which causes most arms to use high capacity motors and speed reducers. A spring-based counterbalance mechanism can compensate for this gravitational torque,…