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A novel mechanism design for gravity compensation in three dimensional space

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4 Author(s)
Morita, T. ; Dept. of Mech. Eng., Keio Univ., Yokohama, Japan ; Kuribara, F. ; Shiozawa, Y. ; Sugano, S.

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.

Published in:

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on  (Volume:1 )

Date of Conference:

20-24 July 2003