Lightweight Multi-DOF Manipulator With Wire-Driven Gravity Compensation Mechanism

Lee, DongGyu; Seo, TaeWon

doi:10.1109/tmech.2017.2681102

Cited by 53 publications

(15 citation statements)

References 22 publications

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“…The self-weight compensation mechanism greatly reduces the torque requirement of the robot actuators. However, the previous gravity mechanisms [17][18][19][20][21][22][23] have not considered compensation for the gripping force that is required when the robot grips an object. A large actuator torque is required to prevent an object from dropping, and consequently, the robot hand becomes heavier.…”

Section: Gravity and Gripping Force Compensationmentioning

confidence: 99%

“…Gravity compensation mechanisms can further reduce the torque requirement of robot joints. [17][18][19][20][21][22][23] These mechanisms utilize passive mechanical elements, such as springs and counterweights, to compensate for the gravity torque produced not only by robots 17-20, 22, 23 but also by objects held by the robots. 21 The robots do not then consume any power while maintaining postures statically, and the gravity compensation mechanisms reduce the weight of the robot arms and the reduction ratios of the motor reducers.…”

Section: Introductionmentioning

confidence: 99%

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Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer

2019

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SummaryIn this paper, we propose a novel mechanism to compensate for gravity and the gripping force in a hand-arm robot. This mechanism compensates for the gravitational torque produced by an object gripped by the hand-arm robot. The gripping force required for the robot hand to prevent the object from dropping is also simultaneously compensated for. This mechanism requires only one actuator placed on the shoulder part of the robot. Therefore, this mechanism can reduce the torque requirement of joint actuators and lower the weight of the robot. The gear ratio of the reduction gears in each robot joint can then also be reduced. These advantages are critical for future robots that perform tasks in unstructured environments and collaborate with humans. We carried out experiments with a 6-DoF robot arm having a 1-DoF gripper to demonstrate the effectiveness of the proposed mechanism.

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Section: Gravity and Gripping Force Compensationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer

2019

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“…However, the drawback of the mechanism mentioned above, is limited repeatability and durability. A multi-winding compensation mechanism based on the lifting systems was proposed, 24 which increases durability by increasing the number of windings. This procedure was prohibitive due to the need for longer springs and subsequently larger space to displace the springs to provide the same torque that is produced before the addition of windings.…”

Section: Introductionmentioning

confidence: 99%

A symmetric cable-pulley based mechanism for gravity compensation of robotic manipulators: Static and dynamic analysis

Arezoo

Fard

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a novel design for gravity compensation of manipulators has been introduced and its effect on the static and dynamic performance has been studied. The gravity compensation mechanism (GCM) of this study deploys a symmetrical configuration for the pulleys and cable to reduce the tension in the cable without requiring additional space for longer springs and their displacements. The reduction of cable tension significantly increases the durability of the proposed GCM, which tackles one of the most critical issues of the cable-pulley based gravity compensating systems. The configuration of the proposed GCM also distributes equal internal forces and moments over the joints of the manipulator. As a key part of the design, the dynamic performance of the manipulator is evaluated before and after it is equipped with the GCM. The dynamic manipulability ellipse is used to measure the variations in dynamic performance. Implementation on a real multi-degree-of-freedom (DOF) manipulator showed the effectiveness of the proposed GCM in gravity compensation and also its simplicity of extension and larger achievable workspace comparing to the previous works.

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“…The spring is an elastic energy source, and the motion transformation mechanism transmits the gravitational energy of the object to the spring to maintain the sum of the two energy components. Many mechanical components have been used as motion transformation mechanisms, such as wires [9]- [11], gears [12], cams [13], and slide cranks [14]. The magnetic energy provided by a permanent magnet (PM) is also used for gravity compensation.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Gravity-Compensating Vertical Linear Motor

Shin

Lee

2021

IEEE Access

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We propose a vertical linear motor (VLM) for a semiconductor manufacturing equipment that compensates for the weight of the moving part using the balance of magnetic and elastic forces. The developed VLM achieves zero stiffness with a constant upward force over a working range. The magnetic circuit of the VLM is designed to provide a linear negative stiffness over a ±2 mm stroke with an upward force of 14 N at a 0 mm stroke. The negative stiffness is compensated for by the positive stiffness of an elastic component-like springs. Then, the upward force becomes constant over the working range and corresponds to the weight of the moving part. The proposed VLM is designed to minimize the coupling effects of stiffness and gravity compensation force using the magnetic flux saturation and magnetic flux path design. We investigate the effects of each design parameter on VLM operation through finite element analysis. Finally, the simulated forces in the proposed VLM are experimentally verified, indicating a linear negative stiffness of approximately -13.5 N/mm and a gravity compensation force of 14.9 N.

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Lightweight Multi-DOF Manipulator With Wire-Driven Gravity Compensation Mechanism

Cited by 53 publications

References 22 publications

Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer

Simultaneous gravity and gripping force compensation mechanism for lightweight hand-arm robot with low-reduction reducer

A symmetric cable-pulley based mechanism for gravity compensation of robotic manipulators: Static and dynamic analysis

Design and Analysis of a Novel Gravity-Compensating Vertical Linear Motor

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