A new parallelogram linkage configuration for gravity compensation using torsional springs

Gopalswamy, A.; Gupta, Preety; Vidyasagar, M.

doi:10.1109/robot.1992.220291

Cited by 33 publications

(25 citation statements)

References 4 publications

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“…The result is a more manageable device in the case that it is humanoperated, and less powerful actuators in the case that the device is powered. Other advantages of static balancing include intrinsic safety [2], intuitive manmachine interaction [3,4], backlash reduction due to presstress, and weight reduction of motors and brakes [5]. Because of these advantages static balancing of weight has been proposed in numerous applications, especially in the fields of robotics [6,7,8,9,10], orthotics and assistive devices [11,12,13], and consumer products [14].…”

Section: Introductionmentioning

confidence: 99%

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Static balancing of an inverted pendulum with prestressed torsion bars

Radaelli

Buskermolen²,

Barents³

et al. 2017

Mechanism and Machine Theory

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Section: Introductionmentioning

confidence: 99%

“…Gopalswamy [5] balances the weight of a parallelogram linkage with a single torsion spring with a linear characteristic. The range where the balance applies, however, is limited to the part of the sine characteristic that can be approximated as linear.…”

Section: Introductionmentioning

confidence: 99%

Static balancing of an inverted pendulum with prestressed torsion bars

Radaelli

Buskermolen²,

Barents³

et al. 2017

Mechanism and Machine Theory

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“…If the weight of the construction is known, this can also be used as input. The parameters that determine the energy curve of the total system can be selected and optimized (3). An optimization algorithm is used to approximate a constant potential energy.…”

Section: Design Stepsmentioning

confidence: 99%

“…A gravity balancer allows a weight to be moved up and down with little effort. In the field of industrial robotics for example this allows smaller motors to be used, the size of required brakes can be reduced and inherent safety is introduced [3]. Gravity balancers can also play a large role in height adjustable applications for rehabilitation [4,5], patient care and in height adjustment of furniture [6].…”

Section: Introductionmentioning

confidence: 99%

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An Energy Approach to the Design of Single Degree of Freedom Gravity Balancers With Compliant Joints

Rijff

Herder

Radaelli

2011

Volume 6: 35th Mechanisms and Robotics Conference, Parts a and B

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A gravity balancer is a mechanism that compensates the weight of a mass over a range of motion. When no friction is present, this gives an energy efficient mechanism and little effort is required to move an object. Conventional mechanisms have drawbacks due to the use of conventional rigid joints. Compliant joints do not have these disadvantages, can be made from fewer parts and can increase performance compared to rigid body joints. The goal of this paper is to develop a new method for the design of single degree of freedom gravity balancers where all the rigid joints are replaced with compliant joints. The method is based on connecting rigid links with compliant joints. With a constant potential energy as objective, the method allows new gravity balancers to be designed. The second goal is to construct a demonstrator as proof of principle. It can be concluded that for the first time a gravity balancers has been constructed where all the rigid joints are replaced with compliant joints. The gravity balancer had a peak moment reduction of 93%. The presented method is extensible and allows others to understand and to further develop gravity balancers with compliant joints for other applications.

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Gravity compensation of spatial two‐DOF serial manipulators

Wongratanaphisan¹,

Chew²

2002

J. Robotic Syst.

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This article presents the analysis of gravity compensation of a two‐DOF serial manipulator operating in three‐dimensional space by means of linear spring suspension. The physical configuration of the serial manipulator is assumed general. The analysis begins with gravity compensation of a one‐DOF manipulator in order to form the basis which is then extended to a two‐DOF manipulator. The approach taken in the analysis is that of conservation of potential energy. The goal is to seek the location and the stiffness of springs that provide complete compensation of gravity in the manipulator system. It has been found that complete compensation of gravity in a two‐DOF serial manipulator system is possible. Unlike many previous works on spring suspension of a rigid body, which assume that one end of the suspending spring is attached to ground, it is proven in this study that, for complete compensation in a two‐DOF manipulator, the spring that suspends the distal link cannot be connected to ground. Instead, it must be in certain motion relative to the proximal link. The discussion on how to provide such a motion for the spring is given. It is also explained how the problem of gravity compensation of a robot manipulator can be shifted to that of changing gravity environment within a manipulator system. The concept can be applied to simulation and testing of robot manipulators that will be sent to operate in a different gravity environment, such as space. © 2002 Wiley Periodicals, Inc.

show abstract

A new parallelogram linkage configuration for gravity compensation using torsional springs

Cited by 33 publications

References 4 publications

Static balancing of an inverted pendulum with prestressed torsion bars

Static balancing of an inverted pendulum with prestressed torsion bars

An Energy Approach to the Design of Single Degree of Freedom Gravity Balancers With Compliant Joints

Gravity compensation of spatial two‐DOF serial manipulators

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