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1. (WO2017150933) VARIABLE GRAVITATIONAL TORQUE COMPENSATION APPARATUS AND CONTROL METHOD THEREFOR

Pub. No.:    WO/2017/150933    International Application No.:    PCT/KR2017/002317
Publication Date: Sat Sep 09 01:59:59 CEST 2017 International Filing Date: Sat Mar 04 00:59:59 CET 2017
IPC: B25J 18/00
B25J 9/16
B25J 19/02
B25J 9/12
B25J 18/04
Applicants: KOREA INSTITUTE OF MACHINERY & MATERIALS
한국기계연구원
Inventors: KIM, Hwi-su
김휘수
SON, Young-su
손영수
PARK, Chan-hun
박찬훈
PARK, Dong-il
박동일
DO, Hyun-min
도현민
CHOI, Tae-yong
최태용
KIM, Doo-hyeong
김두형
KYUNG, Jin-ho
경진호
Title: VARIABLE GRAVITATIONAL TORQUE COMPENSATION APPARATUS AND CONTROL METHOD THEREFOR
Abstract:
Disclosed are a variable gravitational torque compensation apparatus and a control method therefor. The variable gravitational torque compensation apparatus comprises: a reference surface; a link rotatably connected at one end thereof to the reference surface so as to form the rotational center thereof and arranged such that the center of gravity thereof is spaced apart from the rotational center; an elastic means having one end coupled to the link; a wire having one side coupled to the other end of the elastic means and the other side coupled to the reference surface; an idle roller coupled to the link so as to support the wire between both ends of the wire; and a compensation torque control unit installed in the link so as to control a position of the idle roller and an elastic force of the elastic means.