NDLI: Design of static balancing mechanism for face robot

Content Provider	Springer Nature Link
Author	Kim, Seung Jong Cho, Changhyun
Copyright Year	2015
Abstract	This paper proposes a static balancing mechanism for a face robot that uses the space mapping method. The joints of the face robot are configured using yaw-pitch-pitch-roll rotations. A design method based on the space mapping is adopted and extended to a multiple-degree-of-freedom (multi-dof) unit gravity compensator space. The joint space and gravity compensator space are determined, and the mapping between the two spaces is obtained using analyses of the potential energy in the spaces to determine the number of unit gravity compensators and their locations. The design is conducted using the multi-dof gravity compensator space and suggests that two unit gravity compensators are necessary, with parallel constraints. Dynamic simulations are conducted; the results show that the proposed gravity compensators effectively counterbalance the gravitational force, and the total potential energy is invariant for all poses.
Starting Page	194
Ending Page	200
Page Count	7
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	13
Issue Number	1
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2014-12-18
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Design gravity compensator space mapping spring static balancer Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Robotic manipulators employing a bevel gravity compensator

Design of a static balancer for constrained joint space

A safe robot arm with safe joints and gravity compensator

Static balancer for the rectilinear motion

Design of a Static Balancing Mechanism for a Serial Manipulator With an Unconstrained Joint Space Using One-DOF Gravity Compensators

Magnetic mechanical capsule robot for multiple locomotion mechanisms

Intrinsically Safe Robot Arm: Adjustable Static Balancing and Low Power Actuation

Design of a static balancer with space mapping

Mechatronics design for product enhancement

Design of static balancing mechanism for face robot

Similar Documents

Robotic manipulators employing a bevel gravity compensator

Design of a static balancer for constrained joint space

A safe robot arm with safe joints and gravity compensator

Static balancer for the rectilinear motion

Design of a Static Balancing Mechanism for a Serial Manipulator With an Unconstrained Joint Space Using One-DOF Gravity Compensators

Magnetic mechanical capsule robot for multiple locomotion mechanisms

Intrinsically Safe Robot Arm: Adjustable Static Balancing and Low Power Actuation

Design of a static balancer with space mapping

Mechatronics design for product enhancement

Design of static balancing mechanism for face robot