A Passive Weight Compensation Mechanism with a Non-Circular Pulley and a Spring

被引：76

作者：

Endo, Gen ^{[1
]}

Yamada, Hiroya ^{[1
,2
]}

Yajima, Akira ^{[3
]}

Ogata, Masaru ^{[3
]}

Hirose, Shigeo ^{[1
]}

机构：

[1] Tokyo Inst Technol, Grad Sch Sci & Engn, Dept Mech & Aerosp Engn, Meguro Ku, 2-12-1-I1-60 Ookayama, Tokyo 1528552, Japan

[2] Tokyo Inst Technol, Grad Edge Inst, Meguro Ku, Tokyo 1528552, Japan

[3] Canon Inc, Kanagawa 2128602, Japan

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年

关键词：

D O I：

10.1109/ROBOT.2010.5509797

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a new weight compensation mechanism with a non-circular pulley and a spring. We show the basic principle and numerical design method to derive the shape of the non-circular pulley. After demonstration of the weight compensation for an inverted/ordinary pendulum system, we extend the same mechanism to a parallel five-bar linkage system, analyzing the required torques using transposed Jacobian matrices. Finally, we develop a three degree of freedom manipulator with relatively small output actuators and verified that the weight compensation mechanism significantly contributes to decrease static torques to keep the same posture within manipulator's work space.

引用

页码：3843 / 3848

页数：6

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