Abstract
A gravity compensation (GC) device compensates for the torque originating from a constant mass or payload, which occupies a large part of the capacity and energy consumption of an actuator on the joint. Adapting a GC device can reduce energy consumption and capacity of the actuator. A GC device comprises an energy-storage component and a motion-converting mechanism. The energy storage component stores and releases energy according to the change in gravitational energy as the mass of the joint rotates. The motion-converting mechanism matches the energy from the energy storage component to the gravitational energy of the rotating mass. The majority of GC devices use springs as the energy storage component, and they are connected to the body by motion-converting mechanisms, such as gears and slide cranks. A GC device that uses magnetic energy as an energy storage component was proposed in this study. It uses noncontact permanent magnets (PMs) as energy storage components. It is designed to have a simple structure and compact size, and can be easily connected to the actuator module, similar to commercial gear reducers. It comprises two identical structures, consisting of one yoke and two PMs. The two structures are assembled as the PMs face each other and generate attractive and repulsive forces depending on the relative angle between the two facing PMs. The shapes of the PMs were determined to generate a sinusoidal torque profile to compensate for the gravitational torque by a mass. The designed mechanism is verified through simulations and experiments.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Arakelian V, Zhang Y (2019) An improved design of gravity compensators based on the inverted slider-crank mechanism. J Mech Robot 11. https://doi.org/10.1115/1.4043049
Asada H, Kanade T, Takeyama I (1983) Control of a direct-drive arm. J Dyn Syst Meas Contr 105:136–142. https://doi.org/10.1115/1.3140645
Boisclair J, Richard PL, Laliberte T, Gosselin C (2017) GC of robotic manipulators using cylindrical Halbach arrays. IEEE ASME Trans Mechatron 22:457–464. https://doi.org/10.1109/TMECH.2016.2614386
Greschik G, Belvin WK (2005) ‘The Ultimate in Passive Gravity Compensation for Vibration Testing and Some More.’ 46th AIAA/ASME/ASCE/AHS/ASC structures, structural dynamics and materials conference
Hewes DE, Spady AA Jr (1966) Reduced gravity simulator Patent
Koser K (2009) A cam mechanism for gravity-balancing. Mech Res Commun 36:523–530. https://doi.org/10.1016/j.mechrescom.2008.12.005
Lee K (2022) Design and analysis of a vertically moving voice coil motor with gravity compensation for semiconductor equipment. Sens Actuators A 344:113735. https://doi.org/10.1016/j.sna.2022.113735
Lee G, Lee Donggun, Oh Y (2018) One-piece gravity compensation mechanism using cam mechanism and compression spring. Int J Precis Eng Manuf Green Technol 5:415–420. https://doi.org/10.1007/s40684-018-0044-3
Lee D, Seo T (2017) Lightweight multi-dof manipulator with wire-driven gravity compensation mechanism. IEEE/ASME Trans Mechatron 22:1308–1314. https://doi.org/10.1109/TMECH.2017.2681102
Lian B, Sun T, Song Y, Wang X (2016) Passive and active gravity compensation of horizontally mounted 3-RPS parallel kinematic machine. Mech Mach Theor 104:190–201. https://doi.org/10.1016/j.mechmachtheory.2016.05.021
Lu Q, Ortega C, Ma O (2011) Passive gravity compensation mechanisms: technologies and applications. Recent Pat Eng 5:32–44. https://doi.org/10.2174/1872212111105010032
Nguyen VL, Lin CY, Kuo CH (2020) Gravity compensation design of Delta parallel robots using gear-spring modules. Mech Mach Theor 154. https://doi.org/10.1016/j.mechmachtheory.2020.104046, 104046
Schomburg WK, Reinertz O, Sackmann J, Schmitz K (2020) Equations for the approximate calculation of forces between cuboid magnets. J Magn Magn Mater 506:166694. https://doi.org/10.1016/j.jmmm.2020.166694
Shin BH, Ham TR, Gwak DY, Lee KM (2020) Development of gravity-compensation voice coil motor using negative stiffness. Trans Korean Soc Mech Eng A 44:597–602. https://doi.org/10.3795/KSME-A.2020.44.8.597
Simionescu I, Ciupitu L (2000) The static balancing of the industrial robot arms. Mech Mach Theor 35:1299–1311. https://doi.org/10.1016/S0094-114X(99)00068-3
Stienen A et al (2006) Effects of gravity compensation the range-of-motion of the upper extremities in robotic rehabilitation after stroke. CD-ROM. http://isg.case.edu/isg2006 ISG Meeting. Northwestern University, Chicago, IL Proceedings of 2006 ISG meeting. NU-PT-HMS
Streit DA, Gilmore BJ (1989) ‘Perfect’spring equilibrators for rotatable bodies. : 451–458
Streit DA, Shin E (1993) Equilibrators for planar linkages. J Mech Des 115:604–611. https://doi.org/10.1115/1.2919233
Walsh GJ, Streit DA, Gilmore BJ (1991) Spatial spring equilibrator theory. Mech Mach Theor 26:155–170. https://doi.org/10.1016/0094-114X(91)90080-N
Acknowledgements
This work was supported by a National Research Foundation of Korea (NRF) grant funded by the Korean government (Ministry of Science and ICT) (No. NRF-2020R1A2C1007312). This work was also supported by the Korea Institute of Energy Technology Evaluation and Planning(KETEP) grant funded by the Korea government(MOTIE) (20214000000090, Fostering human resources training in advanced hydrogen energy industry).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors have no conflicts of interest relevant to the content of this article to declare.
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Zhu, W., Shan, L. & Lee, Km. Development of a gravity compensation device for rotary joint using magnetic energy. Microsyst Technol (2024). https://doi.org/10.1007/s00542-024-05645-8
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s00542-024-05645-8