人机合作机器人重力平衡设计

为提高人—机器人合作的质量，研究了机器人机构的重力平衡方法，以减小其带给操作者的重力感受．对于关节式机器人结构，采用拉弹簧的方式对机器人重力进行较大范围的平衡；通过对弹簧刚度和预变形的设计，使得随着机构的运动，弹簧系统可以适当调节弹簧力以实现机构在各种位形下重力的自主平衡．在机器人运动范围内的若干点对设计方案进行了验证，各关节的残余重力矩是原始重力矩的1~10%．结果说明，该设计可以基本实现重力平衡．

Gravity Balance Design for Cobot

To improve the collaboration quality between human and robot,a gravity balance method for cobot(collaborative robot) is investigated to alleviate gravity burden on human operator.A spring system is introduced to realize gravity balance of an articulated robot in a motion range as large as possible.The stiffness and original distortion are specifically designed so that the spring system can modulate appropriately the spring force along with motion of the robot to realize self-balance within a large range.The design is tested in some points within the motion range of the robot,and the residual gravity moment is one to ten percent of the original moment.The result shows that this method can realize gravity balance to some degree.