NDLI: Design of a static balancer for constrained joint space

Content Provider	Springer Nature Link
Author	Cho, Changhyun Lee, Woosub
Copyright Year	2015
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 constraints. 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.
Starting Page	4783
Ending Page	4791
Page Count	9
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	29
Issue Number	11
e-ISSN	19763824
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2015-12-05
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Static balancer Gravity compensator Constrained joint space Slider-crank mechanism Space mapping Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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