An Assistant Robot Arm with Gravity Compensation using Spring and Electric Actuator for Indirect Live-Line Works

This paper proposes an assistant robot arm with gravity compensation using spring and electric actuator for indirect live-line works. To design this robot arm, which is equipped with a gravity compensation that can compensate for the necessary torque required to support the smart stick during indirect live line work and the required torque in the horizontal, vertical, tilt direction that varies depending on the operator's working space is analyzed. The robot arm is designed and manufactured. Finally simulation and experiment results are presented to show the effectiveness of robot arm.