Gravitational torque compensation system for robot arms

Details Gravitational torque compensation system for robot arms Gravitational torque compensation system for robot arms

1992-07-06

1993-06-22

Herrmann, Allan D.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

901 22, 901 48, G05G 1100, B25J 900

Patent

active

052208494

ABSTRACT:
A gravitational compensating system that eliminates gravitational torque of linked robotic arms is provided. A three arm embodiment is disclosed which rotates around a vertical reference axis. The second and third arm rotate around two separate horizontal axes. The gravitational compensating system compensates for the gravitational torque attributed to the second arm as it rotates about its horizontal swing axis and the gravitational torque attributable to the third arm as it rotates about its horizontal swing axis. The combined actuating and compensating systems for the second and third arm are housed in the base structure of the first arm. The compensating system also applies to two arm embodiments.

REFERENCES:
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patent: 4531885 (1985-07-01), Molaug
patent: 4547120 (1985-10-01), Turner, Jr. et al.
patent: 4568238 (1986-02-01), Hirano et al.
patent: 4693663 (1987-09-01), Brenholt et al.
patent: 4718815 (1988-01-01), Lindgren
patent: 4728247 (1988-03-01), Nakashima et al.
patent: 4784010 (1988-11-01), Wood et al.

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