CONSTRUCTING A ROBOT BASE FRAME CAPABLE OF BALANCING ITS CENTER OF GRAVITY

TITLE: CONSTRUCTING A ROBOT BASE FRAME CAPABLE OF BALANCING ITS CENTER OF GRAVITY
AUTHOR(S): D. A. Viet
ABSTRACT: This study presents the design and experimental validation of a compact robot base frame capable of actively balancing its center of gravity through linear mass redistribution. The system employs a lead-screw-driven sliding counterweight actuated by a NEMA 17 stepper motor and regulated by a real-time proportional controller with hysteresis-based state logic. An analytical moment-balance model establishes the relationship between counterweight mass and maximum compensable load, demonstrating that the balancing capacity is approximately 69% of the counterweight mass under the given geometric constraints. Controller tuning shows that a pure proportional gain Kp=40 achieves a settling time of approximately 16 s with zero overshoot. Experimental multi-load disturbance tests confirm stable bidirectional compensation, accurate load detection within 100 ms, and effective suppression of hunting behavior through a ±100 g deadzone and a 20 g hysteresis band. The results demonstrate that a mechanically simple, single-degree-of-freedom translational mechanism can provide reliable and repeatable mass-based stabilization for compact robotic platforms.
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DOWNLOAD: Vol72-2026.pdf
HOW TO CITE THIS ARTICLE: D. A. Viet, CONSTRUCTING A ROBOT BASE FRAME CAPABLE OF BALANCING ITS CENTER OF GRAVITY. Journal of the Technical University of Gabrovo. 72 (2026).