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The REPARTI Seminars at Université Laval are held on Fridays at 11:30 a.m.
Please see the program for more details.
Dec 14 2017 1:30PM
Seminar
Deep 6-DOF Tracking
Dec 15 2017 11:00AM
Seminar
Building and Evaluating Data-Driven Neural Dialogue Systems

 

 

 

REPARTI

MIVIM

Apr 19 2013 11:30AM

Marc-Antoine Lacasse
Laboratoire de robotique


On the design of a statically balanced serial robot using remote counterweights



Abstract

A 7-DOF partially statically balanced robot has been developed for physical human robot interaction. The gravity compensation technique uses remote counterweights connected to the robot via a low-pressure hydraulic transmission. Low-friction diaphragm cylinders are used in order to provide very low residual friction. A two-stage balancing bench allows a unique moving counterweight to be used to adapt the balancing to a payload of up to 10 kg, that is the maximal payload of the gripper. The robot can be easily moved passively while being capable of physically assisting humans in the performance of tasks.




     
   
   

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