Title :
A novel mechanism design for gravity compensation in three dimensional space
Author :
Morita, Toshio ; Kuribara, Fumiyoshi ; Shiozawa, Yuki ; Sugano, Shigeki
Author_Institution :
Dept. of Mech. Eng., Keio Univ., Yokohama, Japan
Abstract :
In this paper, we propose a passive gravity compensation mechanism named "mechanical gravity canceller". The effectiveness of the MGC mechanism is evaluated by analyzing several articulated robot manipulators from the aspects of kinematics and dynamics.
Keywords :
compensation; gravity; manipulator dynamics; manipulator kinematics; mechatronics; torque; gravity compensation; gravity torque; link mechanisms; manipulators dynamics; manipulators kinematics; mechanical gravity canceller; mechanism design; mechatronic devices; parallelogram mechanism; robot arm; robot manipulators; three dimensional space; Acceleration; Actuators; Counting circuits; Gravity; Manipulator dynamics; Mechatronics; Payloads; Robots; Springs; Torque;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225089
