{"id":1669,"date":"2025-06-19T07:23:54","date_gmt":"2025-06-19T07:23:54","guid":{"rendered":"https:\/\/leonsoft03.mycafe24.com\/robot\/counterbalance-mechanism\/"},"modified":"2025-06-23T12:08:27","modified_gmt":"2025-06-23T12:08:27","slug":"counterbalance-mechanism","status":"publish","type":"page","link":"http:\/\/korasrobotics.com\/en\/robot\/counterbalance-mechanism\/","title":{"rendered":"Counterbalance Mechanism"},"content":{"rendered":"[vc_row type=&#8221;full_width_background&#8221; full_screen_row_position=&#8221;middle&#8221; column_margin=&#8221;default&#8221; column_direction=&#8221;default&#8221; column_direction_tablet=&#8221;default&#8221; column_direction_phone=&#8221;default&#8221; scene_position=&#8221;center&#8221; top_padding=&#8221;8%&#8221; text_color=&#8221;dark&#8221; text_align=&#8221;left&#8221; row_border_radius=&#8221;none&#8221; row_border_radius_applies=&#8221;bg&#8221; overflow=&#8221;visible&#8221; overlay_strength=&#8221;0.3&#8243; gradient_direction=&#8221;left_to_right&#8221; 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font_size_phone=&#8221;30&#8243;][\/split_line_heading][nectar_responsive_text inherited_font_style=&#8221;default&#8221; text_color=&#8221;#555555&#8243; font_size_desktop=&#8221;20&#8243; text_direction=&#8221;default&#8221; font_line_height=&#8221;1.8em&#8221; font_size_phone=&#8221;14&#8243;]Counterbalance Mechanism[\/nectar_responsive_text][divider line_type=&#8221;Full Width Line&#8221; line_thickness=&#8221;5&#8243; divider_color=&#8221;black&#8221;][divider line_type=&#8221;No Line&#8221; custom_height=&#8221;20&#8243; custom_height_phone=&#8221;10&#8243;][split_line_heading animation_type=&#8221;line-reveal-by-space&#8221; font_style=&#8221;h4&#8243; line_reveal_by_space_text_effect=&#8221;default&#8221; content_alignment=&#8221;default&#8221; mobile_content_alignment=&#8221;inherit&#8221; link_target=&#8221;_self&#8221; text_content=&#8221;KR-CBM (CounterBalance Mechanism)&#8221; font_size=&#8221;30&#8243; text_direction=&#8221;default&#8221; el_class=&#8221;uppercase-txt&#8221; font_size_phone=&#8221;20&#8243; font_line_height=&#8221;1.3em&#8221;][\/split_line_heading][image_with_animation image_url=&#8221;946&#8243; image_size=&#8221;full&#8221; max_width=&#8221;100%&#8221; max_width_mobile=&#8221;default&#8221; animation_type=&#8221;entrance&#8221; animation=&#8221;None&#8221; animation_movement_type=&#8221;transform_y&#8221; hover_animation=&#8221;none&#8221; alignment=&#8221;center&#8221; border_radius=&#8221;10px&#8221; box_shadow=&#8221;none&#8221; image_loading=&#8221;default&#8221;][divider line_type=&#8221;No Line&#8221; custom_height=&#8221;40&#8243; custom_height_phone=&#8221;5&#8243;][\/vc_column][\/vc_row][vc_row type=&#8221;full_width_background&#8221; full_screen_row_position=&#8221;middle&#8221; column_margin=&#8221;default&#8221; column_direction=&#8221;default&#8221; column_direction_tablet=&#8221;default&#8221; column_direction_phone=&#8221;default&#8221; scene_position=&#8221;center&#8221; bottom_padding=&#8221;40&#8243; text_color=&#8221;dark&#8221; text_align=&#8221;left&#8221; row_border_radius=&#8221;none&#8221; row_border_radius_applies=&#8221;bg&#8221; overflow=&#8221;visible&#8221; overlay_strength=&#8221;0.3&#8243; gradient_direction=&#8221;left_to_right&#8221; shape_divider_position=&#8221;bottom&#8221; bg_image_animation=&#8221;none&#8221; gradient_type=&#8221;default&#8221; shape_type=&#8221;&#8221;][vc_column column_padding=&#8221;no-extra-padding&#8221; column_padding_tablet=&#8221;inherit&#8221; column_padding_phone=&#8221;inherit&#8221; column_padding_position=&#8221;all&#8221; column_element_direction_desktop=&#8221;default&#8221; column_element_spacing=&#8221;default&#8221; desktop_text_alignment=&#8221;default&#8221; tablet_text_alignment=&#8221;default&#8221; phone_text_alignment=&#8221;default&#8221; background_color_opacity=&#8221;1&#8243; background_hover_color_opacity=&#8221;1&#8243; column_backdrop_filter=&#8221;none&#8221; column_shadow=&#8221;none&#8221; column_border_radius=&#8221;none&#8221; column_link_target=&#8221;_self&#8221; column_position=&#8221;default&#8221; gradient_direction=&#8221;left_to_right&#8221; overlay_strength=&#8221;0.3&#8243; width=&#8221;1\/4&#8243; tablet_width_inherit=&#8221;default&#8221; animation_type=&#8221;default&#8221; bg_image_animation=&#8221;none&#8221; border_type=&#8221;simple&#8221; column_border_width=&#8221;none&#8221; column_border_style=&#8221;solid&#8221;][split_line_heading animation_type=&#8221;line-reveal-by-space&#8221; font_style=&#8221;h4&#8243; line_reveal_by_space_text_effect=&#8221;default&#8221; content_alignment=&#8221;default&#8221; mobile_content_alignment=&#8221;inherit&#8221; link_target=&#8221;_self&#8221; text_content=&#8221;Product overview&#8221; font_size=&#8221;30&#8243; text_direction=&#8221;default&#8221; el_class=&#8221;uppercase-txt&#8221; font_size_phone=&#8221;20&#8243;][\/split_line_heading][\/vc_column][vc_column column_padding=&#8221;no-extra-padding&#8221; column_padding_tablet=&#8221;inherit&#8221; column_padding_phone=&#8221;inherit&#8221; column_padding_position=&#8221;all&#8221; column_element_direction_desktop=&#8221;default&#8221; column_element_spacing=&#8221;default&#8221; desktop_text_alignment=&#8221;default&#8221; tablet_text_alignment=&#8221;default&#8221; phone_text_alignment=&#8221;default&#8221; background_color_opacity=&#8221;1&#8243; background_hover_color_opacity=&#8221;1&#8243; column_backdrop_filter=&#8221;none&#8221; column_shadow=&#8221;none&#8221; column_border_radius=&#8221;none&#8221; column_link_target=&#8221;_self&#8221; column_position=&#8221;default&#8221; gradient_direction=&#8221;left_to_right&#8221; overlay_strength=&#8221;0.3&#8243; width=&#8221;3\/4&#8243; tablet_width_inherit=&#8221;default&#8221; animation_type=&#8221;default&#8221; bg_image_animation=&#8221;none&#8221; border_type=&#8221;simple&#8221; column_border_width=&#8221;none&#8221; column_border_style=&#8221;solid&#8221; column_padding_type=&#8221;default&#8221; gradient_type=&#8221;default&#8221;]<div class=\"nectar-fancy-ul font_size_desktop_20px font_line_height_1-6em link_style_underline nectar-link-underline-effect\" data-list-icon=\"dot\" data-animation=\"false\" data-animation-delay=\"0\" data-spacing=\"15px\" data-alignment=\"left\"> \n<ul>\n<li>A counterbalance mechanism (CBM) or passive gravity compensator can minimize the torque required to maintain the posture of a robot by appropriately compensating for the gravitational torque generated by both the weight of the robot and payload.<\/li>\n<li>When applied to collaborative robots, the CBM enables a 1.5 to 2 times increase in payload while using the same motors.<\/li>\n<li>1 DOF counterbalancing is mainly performed by installing the CBM only at joint 2, where the largest gravitational torque occurs, but the maximum gravity compensation effect can be obtained by 2 DOF counterbalancing with CBMs installed at both joints 2 and 3.<\/li>\n<\/ul>\n <\/div>[\/vc_column][\/vc_row][vc_row type=&#8221;full_width_background&#8221; full_screen_row_position=&#8221;middle&#8221; column_margin=&#8221;default&#8221; column_direction=&#8221;default&#8221; column_direction_tablet=&#8221;default&#8221; column_direction_phone=&#8221;default&#8221; scene_position=&#8221;center&#8221; bottom_padding=&#8221;40&#8243; text_color=&#8221;dark&#8221; text_align=&#8221;left&#8221; row_border_radius=&#8221;none&#8221; row_border_radius_applies=&#8221;bg&#8221; overflow=&#8221;visible&#8221; overlay_strength=&#8221;0.3&#8243; gradient_direction=&#8221;left_to_right&#8221; shape_divider_position=&#8221;bottom&#8221; bg_image_animation=&#8221;none&#8221; gradient_type=&#8221;default&#8221; shape_type=&#8221;&#8221;][vc_column column_padding=&#8221;no-extra-padding&#8221; column_padding_tablet=&#8221;inherit&#8221; column_padding_phone=&#8221;inherit&#8221; column_padding_position=&#8221;all&#8221; column_element_direction_desktop=&#8221;default&#8221; column_element_spacing=&#8221;default&#8221; desktop_text_alignment=&#8221;default&#8221; tablet_text_alignment=&#8221;default&#8221; phone_text_alignment=&#8221;default&#8221; background_color_opacity=&#8221;1&#8243; background_hover_color_opacity=&#8221;1&#8243; column_backdrop_filter=&#8221;none&#8221; column_shadow=&#8221;none&#8221; column_border_radius=&#8221;none&#8221; column_link_target=&#8221;_self&#8221; column_position=&#8221;default&#8221; gradient_direction=&#8221;left_to_right&#8221; overlay_strength=&#8221;0.3&#8243; width=&#8221;1\/4&#8243; tablet_width_inherit=&#8221;default&#8221; animation_type=&#8221;default&#8221; bg_image_animation=&#8221;none&#8221; border_type=&#8221;simple&#8221; column_border_width=&#8221;none&#8221; column_border_style=&#8221;solid&#8221;][split_line_heading animation_type=&#8221;line-reveal-by-space&#8221; font_style=&#8221;h4&#8243; line_reveal_by_space_text_effect=&#8221;default&#8221; content_alignment=&#8221;default&#8221; mobile_content_alignment=&#8221;inherit&#8221; link_target=&#8221;_self&#8221; text_content=&#8221;Benefits of using CBMs&#8221; font_size=&#8221;30&#8243; text_direction=&#8221;default&#8221; el_class=&#8221;uppercase-txt&#8221; font_size_phone=&#8221;20&#8243;][\/split_line_heading][\/vc_column][vc_column column_padding=&#8221;no-extra-padding&#8221; column_padding_tablet=&#8221;inherit&#8221; column_padding_phone=&#8221;inherit&#8221; column_padding_position=&#8221;all&#8221; column_element_direction_desktop=&#8221;default&#8221; column_element_spacing=&#8221;default&#8221; desktop_text_alignment=&#8221;default&#8221; tablet_text_alignment=&#8221;default&#8221; phone_text_alignment=&#8221;default&#8221; background_color_opacity=&#8221;1&#8243; background_hover_color_opacity=&#8221;1&#8243; column_backdrop_filter=&#8221;none&#8221; column_shadow=&#8221;none&#8221; column_border_radius=&#8221;none&#8221; column_link_target=&#8221;_self&#8221; column_position=&#8221;default&#8221; gradient_direction=&#8221;left_to_right&#8221; overlay_strength=&#8221;0.3&#8243; width=&#8221;3\/4&#8243; tablet_width_inherit=&#8221;default&#8221; animation_type=&#8221;default&#8221; bg_image_animation=&#8221;none&#8221; border_type=&#8221;simple&#8221; column_border_width=&#8221;none&#8221; column_border_style=&#8221;solid&#8221; column_padding_type=&#8221;default&#8221; gradient_type=&#8221;default&#8221;]<div class=\"nectar-fancy-ul font_size_desktop_20px font_line_height_1-6em link_style_underline nectar-link-underline-effect\" data-list-icon=\"dot\" data-animation=\"false\" data-animation-delay=\"0\" data-spacing=\"15px\" data-alignment=\"left\"> \n<ul>\n<li>It is possible to implement a 25 kg (30 kg) payload collaborative robot with the medium-sized motors used for a 15 kg (20 kg) payload collaborative robot.<\/li>\n<li>For the same payload, a low-capacity motor can be used, resulting in energy savings (30 to 35%) and relatively safer in case of malfunction. Hence, it is suitable for mobile robot arms. <i class=\"fa-long-arrow-right\"><\/i> Hence, it is suitable for mobile robot arms.<\/li>\n<li>Compatible with the existing collaborative robot controller with minor mechanical modifications. <\/li>\n<\/ul>\n <\/div>[\/vc_column][\/vc_row][vc_row type=&#8221;full_width_background&#8221; full_screen_row_position=&#8221;middle&#8221; column_margin=&#8221;default&#8221; column_direction=&#8221;default&#8221; column_direction_tablet=&#8221;default&#8221; column_direction_phone=&#8221;default&#8221; scene_position=&#8221;center&#8221; bottom_padding=&#8221;40&#8243; text_color=&#8221;dark&#8221; text_align=&#8221;left&#8221; row_border_radius=&#8221;none&#8221; row_border_radius_applies=&#8221;bg&#8221; overflow=&#8221;visible&#8221; overlay_strength=&#8221;0.3&#8243; gradient_direction=&#8221;left_to_right&#8221; shape_divider_position=&#8221;bottom&#8221; bg_image_animation=&#8221;none&#8221; gradient_type=&#8221;default&#8221; shape_type=&#8221;&#8221;][vc_column column_padding=&#8221;no-extra-padding&#8221; column_padding_tablet=&#8221;inherit&#8221; column_padding_phone=&#8221;inherit&#8221; column_padding_position=&#8221;all&#8221; column_element_direction_desktop=&#8221;default&#8221; column_element_spacing=&#8221;default&#8221; desktop_text_alignment=&#8221;default&#8221; tablet_text_alignment=&#8221;default&#8221; phone_text_alignment=&#8221;default&#8221; background_color_opacity=&#8221;1&#8243; background_hover_color_opacity=&#8221;1&#8243; column_backdrop_filter=&#8221;none&#8221; column_shadow=&#8221;none&#8221; column_border_radius=&#8221;none&#8221; column_link_target=&#8221;_self&#8221; column_position=&#8221;default&#8221; gradient_direction=&#8221;left_to_right&#8221; overlay_strength=&#8221;0.3&#8243; width=&#8221;1\/4&#8243; tablet_width_inherit=&#8221;default&#8221; animation_type=&#8221;default&#8221; bg_image_animation=&#8221;none&#8221; border_type=&#8221;simple&#8221; column_border_width=&#8221;none&#8221; column_border_style=&#8221;solid&#8221;][split_line_heading animation_type=&#8221;line-reveal-by-space&#8221; font_style=&#8221;h4&#8243; line_reveal_by_space_text_effect=&#8221;default&#8221; content_alignment=&#8221;default&#8221; mobile_content_alignment=&#8221;inherit&#8221; link_target=&#8221;_self&#8221; text_content=&#8221;Why is CBM essential for collaborative robots?&#8221; font_size=&#8221;30&#8243; text_direction=&#8221;default&#8221; el_class=&#8221;uppercase-txt&#8221; font_size_phone=&#8221;20&#8243;][\/split_line_heading][\/vc_column][vc_column column_padding=&#8221;no-extra-padding&#8221; column_padding_tablet=&#8221;inherit&#8221; column_padding_phone=&#8221;inherit&#8221; column_padding_position=&#8221;all&#8221; column_element_direction_desktop=&#8221;default&#8221; column_element_spacing=&#8221;default&#8221; desktop_text_alignment=&#8221;default&#8221; tablet_text_alignment=&#8221;default&#8221; phone_text_alignment=&#8221;default&#8221; background_color_opacity=&#8221;1&#8243; background_hover_color_opacity=&#8221;1&#8243; column_backdrop_filter=&#8221;none&#8221; column_shadow=&#8221;none&#8221; column_border_radius=&#8221;none&#8221; column_link_target=&#8221;_self&#8221; column_position=&#8221;default&#8221; gradient_direction=&#8221;left_to_right&#8221; overlay_strength=&#8221;0.3&#8243; width=&#8221;3\/4&#8243; tablet_width_inherit=&#8221;default&#8221; animation_type=&#8221;default&#8221; bg_image_animation=&#8221;none&#8221; border_type=&#8221;simple&#8221; column_border_width=&#8221;none&#8221; column_border_style=&#8221;solid&#8221; column_padding_type=&#8221;default&#8221; gradient_type=&#8221;default&#8221;]<div class=\"nectar-fancy-ul font_size_desktop_20px font_line_height_1-6em link_style_underline nectar-link-underline-effect\" data-list-icon=\"dot\" data-animation=\"false\" data-animation-delay=\"0\" data-spacing=\"15px\" data-alignment=\"left\"> \n<ul>\n<li>Unlike industrial robots, which can increase payload simply by using higher-power motors, collaborative robots operating in the same space as humans cannot use high-capacity motors that require high voltage (e.g., 96 V, 200 V) for safety reasons. According to IEC62386, machines working with humans are limited to DC 60 V or less for safety. Therefore, CBMs are necessary to increase payload or reach without compromising safety or using high-voltage motors.<\/li>\n<\/ul>\n <\/div>[\/vc_column][\/vc_row][vc_row type=&#8221;full_width_background&#8221; full_screen_row_position=&#8221;middle&#8221; column_margin=&#8221;default&#8221; column_direction=&#8221;default&#8221; column_direction_tablet=&#8221;default&#8221; column_direction_phone=&#8221;default&#8221; scene_position=&#8221;center&#8221; bottom_padding=&#8221;40&#8243; text_color=&#8221;dark&#8221; text_align=&#8221;left&#8221; row_border_radius=&#8221;none&#8221; row_border_radius_applies=&#8221;bg&#8221; overflow=&#8221;visible&#8221; overlay_strength=&#8221;0.3&#8243; gradient_direction=&#8221;left_to_right&#8221; shape_divider_position=&#8221;bottom&#8221; bg_image_animation=&#8221;none&#8221; gradient_type=&#8221;default&#8221; shape_type=&#8221;&#8221;][vc_column column_padding=&#8221;no-extra-padding&#8221; column_padding_tablet=&#8221;inherit&#8221; column_padding_phone=&#8221;inherit&#8221; column_padding_position=&#8221;all&#8221; column_element_direction_desktop=&#8221;default&#8221; column_element_spacing=&#8221;default&#8221; desktop_text_alignment=&#8221;default&#8221; tablet_text_alignment=&#8221;default&#8221; phone_text_alignment=&#8221;default&#8221; background_color_opacity=&#8221;1&#8243; background_hover_color_opacity=&#8221;1&#8243; column_backdrop_filter=&#8221;none&#8221; column_shadow=&#8221;none&#8221; column_border_radius=&#8221;none&#8221; column_link_target=&#8221;_self&#8221; column_position=&#8221;default&#8221; gradient_direction=&#8221;left_to_right&#8221; overlay_strength=&#8221;0.3&#8243; width=&#8221;1\/4&#8243; tablet_width_inherit=&#8221;default&#8221; animation_type=&#8221;default&#8221; bg_image_animation=&#8221;none&#8221; border_type=&#8221;simple&#8221; column_border_width=&#8221;none&#8221; column_border_style=&#8221;solid&#8221;][split_line_heading animation_type=&#8221;line-reveal-by-space&#8221; font_style=&#8221;h4&#8243; line_reveal_by_space_text_effect=&#8221;default&#8221; content_alignment=&#8221;default&#8221; mobile_content_alignment=&#8221;inherit&#8221; link_target=&#8221;_self&#8221; text_content=&#8221;Types&#8221; font_size=&#8221;30&#8243; text_direction=&#8221;default&#8221; el_class=&#8221;uppercase-txt&#8221; font_size_phone=&#8221;20&#8243;][\/split_line_heading][\/vc_column][vc_column column_padding=&#8221;no-extra-padding&#8221; column_padding_tablet=&#8221;inherit&#8221; column_padding_phone=&#8221;inherit&#8221; column_padding_position=&#8221;all&#8221; column_element_direction_desktop=&#8221;default&#8221; column_element_spacing=&#8221;default&#8221; desktop_text_alignment=&#8221;default&#8221; tablet_text_alignment=&#8221;default&#8221; phone_text_alignment=&#8221;default&#8221; background_color_opacity=&#8221;1&#8243; background_hover_color_opacity=&#8221;1&#8243; column_backdrop_filter=&#8221;none&#8221; column_shadow=&#8221;none&#8221; column_border_radius=&#8221;none&#8221; column_link_target=&#8221;_self&#8221; column_position=&#8221;default&#8221; gradient_direction=&#8221;left_to_right&#8221; overlay_strength=&#8221;0.3&#8243; width=&#8221;3\/4&#8243; tablet_width_inherit=&#8221;default&#8221; animation_type=&#8221;default&#8221; bg_image_animation=&#8221;none&#8221; border_type=&#8221;simple&#8221; column_border_width=&#8221;none&#8221; column_border_style=&#8221;solid&#8221; column_padding_type=&#8221;default&#8221; gradient_type=&#8221;default&#8221;]<div class=\"nectar-fancy-ul font_size_desktop_20px font_line_height_1-6em link_style_underline nectar-link-underline-effect\" data-list-icon=\"dot\" data-animation=\"false\" data-animation-delay=\"0\" data-spacing=\"15px\" data-alignment=\"left\"> \n<ul>\n<li><strong>Link-type CBM (LCBM): <\/strong>Delivered in a long rod form using a coil spring. It is installed in the empty space of link 2 and must be dimensioned and mounted according to the robot\u2019s geometry. Connected in parallel with the robot, it has no impact on robot stiffness.  <\/li>\n<li><strong>Modular CBM (MCBM):<\/strong> Provided in the form of a module (similar to a harmonic drive). Inserted between link 2 and joint 2 requiring minimal mechanical modification. Connected in series, it slightly reduces the robot stiffness.  <\/li>\n<li><strong>External CBM (ECBM):<\/strong> Mounted externally via clamping, requiring no modifications to the robot\u2019s mechanical structure. 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