تعادل استاتیک بازوهای ربات های صنعتی: قسمت اول:حفظ تعادل گسسته

The paper presents some new constructional solutions for the balancing of the weight forces of the industrial robot arms, using the elastic forces of the helical springs. For the balancing of the weight forces of the vertical and horizontal arms, many alternatives are shown. Finally, the results of solving a numerical example are presented.

The mechanisms of manipulators and industrial robots constitute a special category of mechanical systems, characterised by big mass elements that move in a vertical plane, with relatively slow speeds. For this reason the weight forces have a high share in the category of resistance that the driving system must overcome. The problem of balancing the weight forces is extremely important for the play-back programmable robots, where the human operator must drive easily the mechanical system during the training period. Generally, the balancing of the weight forces of the industrial robot arms results in the decrease of the driving power. The frictional forces that occur in the bearings are not taken into consideration because the frictional moment senses depend on the relative movement senses. In this work, some possibilities of balancing of the weight forces by the elastic forces of the cylindrical helical springs with straight characteristics are analysed. This balancing can be made discretely, for a finite number of work field positions, or in continuous mode for all positions throughout the work field. Consequently, the discrete systems realised only an approximatively balancing of the arm.