Proceedings ArticleDOI
Passive mechanical gravity compensation for robot manipulators
N. Ulrich,Vijay Kumar +1 more
- pp 1536-1541
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TLDR
A testbed with both single- and double-link configurations has demonstrated the efficiency and accuracy of this gravity compensation method, as well as its robustness under dynamic loading conditions.Abstract:
A simple mechanical method for passively compensating for gravitationally induced joint torques is presented. This energy-conservative gravity-compensation method is suitable for a variety of manipulator designs. With cables and appropriate pulley profiles, changes in potential energy associated with link motion through a gravity field can be mapped to changes in strain energy storage in spring elements. The resulting system requires significant energy input only for acceleration and deceleration or to resist external forces. A testbed with both single- and double-link configurations has demonstrated the efficiency and accuracy of this gravity compensation method, as well as its robustness under dynamic loading conditions. >read more
Citations
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Journal ArticleDOI
A simple technique to passively gravity-balance articulated mechanisms
TL;DR: In this paper, a simple method to counter the effects of gravity in articulated mechanisms is proposed, which uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment.
Journal ArticleDOI
Gravity-balancing of spatial robotic manipulators
Sunil K. Agrawal,Abbas Fattah +1 more
TL;DR: It is shown that springs with fixed ends are sufficient to gravity balance a spatial mechanism if the hybrid method of gravity balancing is used where the center of mass is identified first through auxiliary parallelograms, and the system remains gravity balanced even if the orientation of the base is changed.
Journal ArticleDOI
Gravity compensation in robotics
TL;DR: An overview of gravity compensation methods applied in robotics is proposed and three principal groups are distinguished due to the nature of the compensation force: counterweight, spring or active force developed by an auxiliary actuator.
Journal ArticleDOI
Static balancing of parallel robots
TL;DR: In this article, the static balancing of a spatial parallel manipulator is addressed, which is defined as that the weight of the links does not produce any force at actuators for any configuration of the manipulator.
Journal ArticleDOI
Static balancing of spatial three-degree-of-freedom parallel mechanisms
Jiegao Wang,Clément Gosselin +1 more
TL;DR: In this paper, the static balancing of spatial three-degree-of-freedom (3-dof) parallel mechanisms or manipulators with revolute actuators using counterweights or springs is studied.
References
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Patent
Device for counter-balancing the forces due to gravity in a robot arm
TL;DR: In this paper, a counter-balancing device incorporating a rigid auxiliary component hinged about a second horizontal axis parallel to the rotation axis of the robot arm is presented, whose distal ends are capable of bearing against a portion of a component which is movable in translation and is subjected to a return force proportional to the distance between an initial position and the position instantaneously occupied by this component.