Design of a static balancer for constrained joint space

Title
Design of a static balancer for constrained joint space
Authors
조창현이우섭
Keywords
Static balancer; Gravity compensator; Constrained joint space; Slider-crank mechanism; Space mapping
Issue Date
2015-11
Publisher
Journal of Mechanical Science and Technology
Citation
VOL 29, NO 11, 4783-4791
Abstract
We propose a design method for a gravity compensator using the space mapping method and joint constraints. The pose of a mechanism can be described with various joint angle sets (i.e., joint spaces). When constraints exist between joint angle sets, a gravity compensator for a mechanism can be derived from the gravity compensator of a base joint space using const raints. Thus, it is not necessary to recompute the whole design equation. A slider-crank mechanism was adopted as an example and various gravity compensators were obtained using the space mapping method. Investigations of various gravity compensators proved that their design equations can be derived from the base joint space by applying mapping relations between joint spaces (i.e., constraints). The results of simulations show that the obtained gravity compensators effectively counterbalance the gravitational force and the total potential energy is invariant for all poses.
URI
http://pubs.kist.re.kr/handle/201004/50752
ISSN
1738494X
Appears in Collections:
KIST Publication > Article
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