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Static balancer of a 4-DOF manipulator with multi-DOF gravity compensators

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Abstract

This paper proposes a Gravity compensator (GC) for a humanlike four Degrees-of-freedom (4-DOF) manipulator in that three 2-DOF and two 3-DOF unit GCs are used. The equivalent mapping analyses show that various types of multi-DOF GCs can be classified into their own type of DOF regardless of the order of successive rotations and selection of reference frames. Therefore, the selection of multi-DOF GCs has become simple. A method for the placement of unit GCs is proposed. For the 4-DOF manipulator sixteen combinations of unit GCs are obtained and various designs (mapping matrices) can be further developed for an each combination considering locations of unit GCs. The 5-GC combination is chosen among various designs. The placement of the unit GCs is conducted for the 5-GC combination, and its performance is evaluated with a numerical simulation. The case study showed that most of the unit GCs are applicable to the 4-DOF manipulator and the same placement of unit GCs is achieved for all applicable unit GCs.

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Authors and Affiliations

  1. Research Center for Real Time NDT, Chosun University, Kwang-ju, Korea

    Sang-Hyung Kim

  2. School of Mechanical System & Automotive Engineering, Chosun University, Kwang-ju, Korea

    Chang-Hyun Cho

Authors
  1. Sang-Hyung Kim
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  2. Chang-Hyun Cho
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Corresponding author

Correspondence to Chang-Hyun Cho.

Additional information

Recommended by Associate Editor Eung-Soo Shin

Sang-Hyung Kim received the B.S. and M.S. degrees in mechanical engineering and control & instruments engineering from the Chosun University, Rep. of Korea, in 2015 and 2017. He is researcher at Research Center for Real Time NDT, Chosun University, Rep. of Korea, since 2017. His current research interests are mechanism design and control of robotic systems.

Chang-Hyun Cho (M’07) received the B.S. and M.S. degrees in Mechanical Engineering from Kyunghee University, Suwon, Rep. of Korea, in 1997 and 1999, respectively, and the Ph.D. degree in the same discipline from Korea University, Seoul, Rep. of Korea, in 2005. He was a member of the Faculty of the Department of Control, Instruments, and Robotics, Chosun University, Kwangju, Korea, from 2008 to 2013. He has joined the Faculty of School of Mechanical System & Automotive Engineering, Chosun University since 2014, and is currently a Professor. His current research interests involve mechanism design and the control of robotic systems.

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Kim, SH., Cho, CH. Static balancer of a 4-DOF manipulator with multi-DOF gravity compensators. J Mech Sci Technol 31, 4875–4885 (2017). https://doi.org/10.1007/s12206-017-0935-1

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  • DOI: https://doi.org/10.1007/s12206-017-0935-1

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