Abstract
This paper presents robotic manipulators that employ the bevel gravity compensator. The bevel gravity compensator can counterbalance a 2-dof rotation comprised of two 1-dof gravity compensators and a bevel differential. Each 1-dof gravity compensator is equipped at the rotating bevel gear, respectively. Analyses of the energy and torque for a 1-link and 2-dof manipulator indicate that the proposed gravity compensator performs static balancing completely. Multi-link and spatial manipulator applications are discussed in this paper. In these applications, mechanical constraints are adopted to achieve complete gravity compensation, since the pose of the distal link with respect to the inertial frame varies with alterations of the pose of the proximal link. Energy analyses reveal that the proposed manipulators employing bevel gravity compensators can completely achieve static balancing. The simulation results show that the gravitational torques can be effectively counterbalanced in regards to the proposed manipulators.
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Recommended by Editorial Board member Shinsuk Park under the direction of Editor Hyouk Ryeol Choi.
This study was supported by research funds from Chosun University, 2008.
Changhyun Cho received his B.S. and M.S. degrees in Mechanical Engineering from Kyunghee University, Korea in 1997 and 1999, respectively, and a Ph.D. degree in Mechanical Engineering from Korea University, Korea in 2005. He was with the Center for Intelligent Robotics, Frontier 21 Program at KIST from 2005 to Aug. 2008. He joined the faculty of the Dept. of Control, Instruments, and Robotics, Chosun University, Kwangju, Korea in 2008, where he has served as an Assistant Professor since 2008. His current research interests are in the fields of mechanism design and the control of robotic systems.
Woosub Lee received his B.S. degree in Mechanical Engineering from Sogang University in 1999 and an M.S. degree in Electronic Engineering from Yonsei University in 2004. He worked as a Research Scientist at the Korea Institute of Science and Technology from 2004 until 2010. Since 2010, he has been a Doctoral fellow at the Dept. of Mechanical and Aerospace Engineering at Tokyo Institute of Technology His current research interests are the design and control of field robot systems, and dependable manipulators.
Sungchul Kang received his B.S., M.S. and Ph.D. degrees in Mechanical Engineering from Seoul National University, Korea in 1989, 1991, and 1998, respectively. In 1991, he joined the Korea Institute of Science and Technology. He was a one year postdoctoral researcher at the Mechanical Engineering Laboratory, Japan in 2000 and visiting researcher at the artificial intelligence laboratory at Stanford University, USA in 2006. He is now a principal research scientist at KIST. His research interests include robot manipulation, haptic sensing and display, and field robot systems.
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Cho, C., Lee, W. & Kang, S. Robotic manipulators employing a bevel gravity compensator. Int. J. Control Autom. Syst. 10, 341–349 (2012). https://doi.org/10.1007/s12555-012-0214-y
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DOI: https://doi.org/10.1007/s12555-012-0214-y