중력보상이 적용된 2 자유도 매니퓰레이터 설계

This paper proposes a 2-dofs manipulator with gravity compensators which can be utilized at the shoulder joint of a service or humanoid robot. The gravity compensator comprises two 1-dof gravity compensators and a bevel differential. The proposed gravity compensator can be operated in the hemispherical work space as in the shoulder joint of a most service or humanoid robot. It is revealed from analyses of energy that the proposed gravity compensator can perform static balancing completely. Experiments showed that the 2-dofs manipulator can be effectively operated with small motors.