ABSTRACT To compensate the joint torque of Axis-II caused by end loading and mass of links in industrial robots, static balancing mechanisms are generally used. There are several existing balancing mechanism techniques. However, as these techniques lack autonomy, continuity and dynamics, they cannot completely compensate the joint torque in the presence of dynamic or multiple types of loads. In this paper, a new balancing mechanism technique for industrial robots, based on series elastic actuator (SEA) devices is presented. Simulation and experimental results prove that the devices combine the effects of the balancing mechanism and driving motor of Axis-II, as well as increase load capacity and flexibility. Therefore, this technique can be used to devise a novel dynamic balancing cylinder for heavily loaded industrial robots with active control ability, and simultaneously improve the load-to-weight ratio.

中文翻译：

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一种采用串联弹性执行器的新型工业机器人自适应平衡驱动机构

摘要 为了补偿工业机器人中由端部载荷和连杆质量引起的 Axis-II 关节扭矩，通常使用静态平衡机构。有几种现有的平衡机制技术。然而，由于这些技术缺乏自主性、连续性和动态性，在存在动态或多种类型负载的情况下，它们不能完全补偿关节扭矩。在本文中，提出了一种基于串联弹性执行器 (SEA) 装置的工业机器人新平衡机构技术。仿真和实验结果证明，该装置结合了Axis-II平衡机构和驱动电机的作用，增加了负载能力和灵活性。所以，