Development of Two-DOF Simultaneous Gravity Compensator for Mobile Manipulator
Soo Yeon Choi, Hyunyong Lee, Ji Man Park, Hansol Kang, Seong Won Nam, Bum Su Yi, Yeong Woo Son, Jae Young Oh
Abstract
A manipulator mounted on a mobility platform requires a design that simultaneously meets the demands for lightweight, compactness, and energy efficiency. A gravity compensator is an effective solution that mechanically offsets the gravity torque caused by the weight of the manipulator links, enabling the use of low-capacity motors while maintaining performance comparable to conventional systems. However, existing gravity compensators face notable challenges in terms of spatial efficiency and durability. To address these challenges, this study developed the two-DOF simultaneous gravity compensator based on a spring and slider-crank mechanism to compensate for the gravity torque generated by two consecutive pitch joints. Experimental results demonstrated a high torque compensation rate of 71.58% and a power reduction rate of 32.23% across the full range of motion of the two joints, further confirming consistency with theoretical predictions.
BibTeX
@inproceedings{ral2025_developmentoftwo,
title = {Development of Two-DOF Simultaneous Gravity Compensator for Mobile Manipulator},
author = {Soo Yeon Choi and Hyunyong Lee and Ji Man Park and Hansol Kang and Seong Won Nam and Bum Su Yi and Yeong Woo Son and Jae Young Oh and Jun Ha Song and Bo Geun Kim and Dae Geun Song and Hyouk Ryeol Choi},
booktitle = {RA-L 2025},
year = {2025}
}