A simple technique to passively gravity-balance articulated mechanisms

被引：115

作者：

Rahman, T

Ramanathan, R

Seliktar, R

Harwin, W

机构：

[1] University of Delaware/A.I. duPont Institute, Applied Science and Engineering Laboratories, A.I. duPont Institute, Wilmington, DE, 19899, 1600 Rockland Road

[2] A.I. duPont Institute/Drexel University, Applied Science and Engineering Laboratories, A.I. duPont Institute, Wilmington, DE, 19899, 1600 Rockland Road

[3] Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, PA, 19104

来源：

JOURNAL OF MECHANICAL DESIGN | 1995年 / 117卷 / 04期

关键词：

D O I：

10.1115/1.2826738

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applications in robotics, orthotics and a host of everyday mechanisms.

引用

页码：655 / 658

页数：4

共 7 条

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