Robot with spring pivot balancing mechanism

Details Robot with spring pivot balancing mechanism Robot with spring pivot balancing mechanism

1987-03-09

1988-06-28

Herrmann, Allan D.

Machine element or mechanism

Control lever and linkage systems

16 1C, 2482921, 267 72, 403131, 901 48, B66C 2372, B25J 1900, F16F 106

Patent

active

047531282

ABSTRACT:
A robot including a balancing mechanism or balancer with a compression spring which flexes to compensate for the gravitational moment between an arm assembly and a base of the robot. The compression spring is chosen to have a force-deflection characteristic to account for the gravitational moment and the geometry of the mechanism. The arm assembly has a pivotal connection which pivotally supports the arm assembly on the base of the robot for movement about a pivotal axis. The mechanism can be adjusted for various arm assembly lengths and/or payloads. The mechanism includes a spring support, a connecting rod having a longitudinal axis and connected to the spring support for communicating motion of the spring support to the arm assembly at an attachment point offset from the pivotal axis. The resulting balancing mechanism is relatively compact, which lends itself to robotics applications where space is limited.

REFERENCES:
patent: 2184294 (1939-12-01), Fergueson
patent: 2547532 (1951-04-01), Mendelsohn
patent: 4350382 (1982-09-01), Spronck
patent: 4500251 (1985-02-01), Kiryu et al.
patent: 4546233 (1985-10-01), Yasuoka
patent: 4598601 (1986-07-01), Molaug
patent: 4653975 (1987-03-01), Akeel
patent: 4659280 (1987-04-01), Akeel

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