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Passively Adapting External Force Compensation System for Serial Manipulators

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Advances in Mechanism and Machine Science (IFToMM WC 2023)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 148))

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Abstract

This paper proposes a design approach for a spring-based compensator that passively adapts to external loadings. The proposed compensator is based on a combination of spring-lever mechanisms that are adjustable to the robot’s configuration. Springs in this arrangement are mounted on sliding pivots that connected to springs that allow passive adjustment of the value of the counter-torque. While previous research is either concerned with gravity compensation or with variable stiffness actuators, the proposed approach deals with the variation of external loadings. The proposed force compensator can be used in robotics applications where the robot experiences high external loads during operation. The model was tested in simulation for a planar 2-DoF manipulator and a planar redundant 3-DoF manipulator. The presented results show 58.5% torque reduction for 2-DoF and 55.2% reduction for 3-DoF . Robot redundancy can enhance counter-balancing since the compensation level is configuration-dependent.

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Author information

Authors and Affiliations

  1. Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Innopolis, 420500, Russia

    Albert Demian

  2. Lincoln Centre for Autonomous Systems (L-CAS) School of Computer Science, College of Science, University of Lincoln, Brayford Pool, Lincoln, Lincolnshire, LN6 7TS, UK

    Alexandr Klimchik

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  1. Albert Demian
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  2. Alexandr Klimchik
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Correspondence to Albert Demian .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan

    Masafumi Okada

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Demian, A., Klimchik, A. (2023). Passively Adapting External Force Compensation System for Serial Manipulators. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 148. Springer, Cham. https://doi.org/10.1007/978-3-031-45770-8_56

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