Cart (Loading....) | Create Account
Close category search window

Design of a static balancing mechanism with unit gravity compensators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Changhyun Cho ; Dept. of Control, Instrum., & Robot, Chosun Univ., Gwang-ju, South Korea ; Sungchul Kang

This paper proposes a design method of a static balancing mechanism using unit gravity compensators (e.g., 1-dof gravity compensator). In the design of a multi-dofs static balancing mechanism it is necessary to determine how many springs (or unit gravity compensators) are required and where they should be placed. This problem can be overcome by computing the mapping matrix between the joint space and gravity compensator space. The mapping matrix is obtained by analyses of the potential energy function. The number of rows of the mapping matrix indicates the amount of unit gravity compensators and linear joint constraints representing locations of unit gravity compensators. Example studies are presented to verify the effectiveness of the proposed method. Simulations are performed in that static balancing mechanisms designed by the proposed method can counterbalance the gravitational torques completely.

Published in:

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Date of Conference:

25-30 Sept. 2011

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.