Gravity-balancing of spatial robotic manipulators

Gravity compensation of a 6-UPS parallel kinematics machine tool through elastically balanced constant-force generators

“…Numerous approaches have been developed for the gravity compensation of both serial and parallel robots [17][18][19][20][21][22][23][24][25][26]. The study deals with static balancing of parallel robots, achieved by making the legs operate as constantforce generators (CFGs), a concept developed in [9,22,27].…”

Gravity Compensator for the Roll-pitch Rotation

“…2자유도 로봇 팔 에 대한 중력보상 연구에서 스프링을 베이스에 연결하지 않 으려면 평행사변형 기구와 같은 보조 기구로 연결되어야 함 이 설명되었다 [5]. Agrawal과 Fattah는 다자유도 링크에 대한 완벽한 밸런싱이 가능한 기구를 설계 하였다 [6]. 무게중심 (COM)을 표현하는 평행사변형 기구와 베이스를 연결하는 주 스프링과 주변 링크에 연결된 부가 스프링으로 중력 보상 을 수행하였다.…”

Methodology for analysis and synthesis of inherently force and moment-balanced mechanisms: theory and applications

“…Points Q and R will be referred to as similarity points of the principal vector linkage. It is observed that the scaling factor does not depend on m 3 and m 4 . In chapter 4 (section 4.2) it is shown that it is not the only set of similarity points of the pantograph and in chapter 7 it is shown that multiple principal vector linkages can be combined by connecting them in these points and in S.…”

“…In fact, they describe the positions of A 0 and A 3 which are the similarity points of the 3-DoF open-chain principal vector linkage of three principal elements. Here the scaling factor can be written from (4.18) as k = a ′′ 1 /a ′′ 3 = a 3 l 1 /a 1 l 3 and is constant for any value of l 4 .…”

“…In 2004 Agrawal and Fattah showed that also for a spatial manipulator the mass of all links can be included, of which a prototype is shown in Fig. A.10b [4]. In this case the linkage CoM was statically balanced by a spring.…”