DocumentCode
1949136
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
Volume
1
fYear
2003
fDate
20-24 July 2003
Firstpage
163
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN
0-7803-7759-1
Type
conf
DOI
10.1109/AIM.2003.1225089
Filename
1225089
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