Gravity compensation in robotics

摘要

The actuator power required to resist joint torque caused by the weight of robot links can be a significant problem. Gravity compensation is a well-known technique in robot design to achieve equilibrium throughout the range of motion and as a result to reduce the loads on the actuator. Therefore, it is desirable and commonly implemented in many situations. Various design concepts for gravity compensation are available in the literature. This paper proposes an overview of gravity compensation methods applied in robotics. The examined properties of the gravity compensation are disclosed and illustrated via kinematic schemes. In order to classify the considered balancing schemes three principal groups are distinguished due to the nature of the compensation force: counterweight, spring or active force developed by an auxiliary actuator. Then, each group is reviewed through sub-groups organized via structural features of balancing schemes. The author believes that such an arrangement of gravity compensation methods allows one to carry out a systematized analysis and provides a comprehensive view on the problem.