Title :
Design of a new counter-balancing stackable mechanism
Author :
Jong-tae Seo ; Jae Hong Woo ; Hoon Lim ; Byung-Ju Yi
Author_Institution :
Dept. of Mechatron. Eng., Hanyang Univ., Ansan, South Korea
fDate :
May 31 2014-June 7 2014
Abstract :
This paper describes design and application of a novel counter-balancing stackable parallel mechanism. The stackable mechanism is designed by combining a five-bar and a couple of parallelograms. This design allows a compact design and wide workspace as compared to prior parallel type counter-balancing mechanisms. A linear geometry of this mechanism guarantees static balancing in the whole workspace. This mechanism was successfully applied to otologic.
Keywords :
design engineering; mechanical products; mechanical stability; surgery; counter-balancing stackable parallel mechanism; five-bar; mechanism design; mechanism geometry; otologic; parallelograms; static balancing; Bones; Gravity; Joints; Kinematics; Robots; Surgery; Torque;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907188
