  The paper deals with coupled systems including hand-operated balanced
manipulators and lightweight robots. The aim of such a cooperation is to
displace heavy payloads with less powerful robots. In other term, in the
coupled system for handling of heavy payloads by a HOBM an operator is replaced
by a LWR. The advantages of the coupled HOBM and LWR are disclosed and the
optimal design of the cooperative workspace is discussed. Behavior of the
coupled system in a static mode when the velocities the HOBM are limited does
not present any special problems. In this mode, the inertial forces are
significantly lower than the gravitational one. The payload is completely
balanced by the HOBM and the LWR assumes the prescribed displacements with low
load. However, in a dynamic mode, the HOBM with massive links creates
additional loads on the LWR, which can be significant. The present study
considers a method for determination of inertia effects of the HOBM on the LWR.
The given numerical simulations show the significant increasing of the input
torques due to the inertia forces of the HOBM. Behavior of the HOBM with cable
lift and the LWR is also examined.
