Counterweight Mechanism of Prismatic Joint at 4-DOF PRRR Manipulator for Robotic Charging Station (RoCharg-v1)

The Counterweight Mechanism of the Prismatic Joint for a 4-DOF PRRR Manipulator in a Robotic Charging Station (RoCharg-v1) has been investigated. This study aims to analyze a weight compensation mechanism using rotary springs for handling 4-DoF PRRR manipulators. In the designed manipulator configuration, the workload is centered on joint 1, so this research focuses on that prismatic joint. This study uses the general force balance method, which is influenced by gravity. The counterweight mechanism design is then proven through experimental tests to see the performance of the proposed system. The test results show that counterweights can reduce power at various actuator speeds, making the energy needed to move the manipulator more efficient. This research can contribute to developing technology for 4-DOF PRRR manipulators and their applications.