تعادل استاتیک بازوهای ربات های صنعتی: قسمت دوم: تعادل مداوم

The paper presents some new constructional solutions for the balancing of the weight forces of the robot arms, using the elastic forces of the helical springs. The balancing is exactly realised in all points of work field by using the elastic system which contains the high pair mechanisms. For the performance study of the static balancing mechanisms, a new notion, namely efficaciousness coefficient, is defined. This coefficient is equal to the ratio of the mechanical work consumed for acting the unbalanced arm and the mechanical work consumed for moving the balanced arm. The static balancing mechanism is useful if the efficaciousness coefficient is greater than one. Finally, the results of solving a numerical example are presented.

The exact balancing of the weight force of an industrial robot arm, for any value of its position angle contained in the work field, continuous balancing in other words, may be made with the elastic system that contains a cam mechanism. The drawback of having a higher pair between cam and follower roll is set off by the accuracy of balancing. The cam may be fixed on frame or on arm, and may have a rotational or a translational motion. In order to study the performances of the static balancing mechanisms, a new notion, namely efficaciousness coefficient, is defined. This coefficient is equal to the ratio of the mechanical work consumed for acting the unbalanced arm and the mechanical work consumed for moving the balanced arm. The static balancing mechanism is useful if the efficaciousness coefficient is greater than one.