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

Martini, Alberto

doi:10.5937/fmet1801010m

Cited by 21 publications

(4 citation statements)

References 28 publications

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“…Usually, gravity compensation with spring components is used in parallel robotic manipulators with a fixed base platform. 16 In the literature, 5 three tension springs were used for 3-RPS parallel robot manipulator to compensate for gravitational loads. The geometric parameters of these springs were optimized by minimizing gravitational potential energy fluctuation within a prescribed workspace.…”

Section: Introductionmentioning

confidence: 99%

Partial gravity compensation of a surgical robot

Maaroof

Saeed

Dede

2021

International Journal of Advanced Robotic Systems

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Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements from the actuators.

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Section: Introductionmentioning

confidence: 99%

Partial gravity compensation of a surgical robot

Maaroof

Saeed

Dede

2021

International Journal of Advanced Robotic Systems

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“…Carricato and Gosselin 32 reported a balancing strategy for Gough/Stewarttype parallel manipulator, whose platform weight is balanced by the constant forces which the gravitybalanced legs sustaining the platform generate. Martini 33 studied Parallel Kinematics Machines socalled PKM for achieving the static balancing, by virtue of rendering the legs sustaining the platform constant-force generators. Motor forces are proved to be completely cancelled through the numerical simulations conducted in MSC Adams TM .…”

Section: Introductionmentioning

confidence: 99%

A gravitational torque-compensated 2-DOF planar robotic arm design and its active control

Bulut

Conkur

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Serial robot manipulators have their servo motors with reduction gears on the link joints. When it comes to hyper-redundant robots, this kind of joint actuation mechanism cannot be implemented since this makes hyper-redundant robots too heavy. Instead, cable driven mechanisms are preferred. However, the positioning accuracy is negatively affected by the cables. This paper addresses the positioning accuracy problem of cable driven hyper-redundant robots by employing a 2-DOF robotic arm whose modules are counter-balanced. While the actuators connected to the base actively do most of the work using cables and springs, light and compact actuators connected to the links produce precise motion. The method will result in compact, light and precise hyper-redundant robotic arms. The above-mentioned procedure governed by a control software including a 2D simulator developed is experimentally proved to be a feasible method to compensate the gravitational torque successfully.

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“…Parallel Kinematics Machines (PKMs, i.e. machine tools based on parallel mechanisms), flexible fixturing systems and robotically assisted surgical systems [2,[8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Static Balancing of an Exechon-Like Parallel Mechanism

Martini

2020

Lecture Notes in Mechanical Engineering

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The compensation of gravity loads can represent a convenient strategy to enhance the operation of manipulators with heavy end-effector/moving platform and/or moderate velocities/accelerations, particularly in terms of energy efficiency. This work deals with the static balancing of a 5-DOF manipulator characterized by a serial/parallel hybrid architecture. Approximate gravity compensation of the parallel mechanism is achieved by means of an auxiliary leg comprising four tension springs. Numerical multibody models of the studied manipulator and of its balanced variant are implemented and simulated by using a commercial software package (MSC Adams™). The simulation results confirm the effectiveness of the proposed balancing solution, with the residual motor loads required for the static equilibrium of the balanced variant not exceeding 5% of the motor loads characterizing the unbalanced mechanism, in terms of both peak and rms values.

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

Cited by 21 publications

References 28 publications

Partial gravity compensation of a surgical robot

Partial gravity compensation of a surgical robot

A gravitational torque-compensated 2-DOF planar robotic arm design and its active control

Static Balancing of an Exechon-Like Parallel Mechanism

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