Gravity balance creative design of vertical moving component of vertical machine tool

To improve the collaboration quality between human and robot,a gravity balance method for cobot(collaborative robot) is investigated to alleviate gravity burden on human operator.

Relative techniques are introduced, such as spherical gemel hoisting mechanism that made the active docking ring rotating in three-dimensional direction, intelligent gravity balance technique that could provide the force with high speed and precision to balance gravity and could automatically follow with the active docking r.

Balancing machine by mass removing is important equipment in teaching experiments and project measurements.

A program was compiled based on Matlab,through which the sizes of machine counterweigh and the location of jaw crusher were determined;the vibration of the machine and infrastructure were minimized;the turning disequilibrium of eccentric shaft was reduced.