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IFToMM International Symposium on Robotics and Mechatronics

ISRM 2019: Robotics and Mechatronics pp 29–38Cite as

Performance Evaluation of a Class of Gravity-Compensated Gear-Spring Planar Articulated Manipulators

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Part of the Mechanisms and Machine Science book series (Mechan. Machine Science,volume 78)

Abstract

This paper is devoted to evaluating the gravity compensation performance of a special class of planar articulated manipulators that are gravity balanced by using a series of gear-spring modules. First, the studied manipulators with one, two, and three DOFs are revisited. Then, the gravity compensation performance of these manipulators is determined via a peak-to-peak torque reduction criterion. As the manipulators were designed via two different approaches, i.e., the ideal balancing approximation and the realistic optimization, the gravity compensation performance of these two approaches is compared. It shows that the perfect balancing approximation can achieve a satisfied performance as nearly same as that of the optimization approach, while it, on the other hand, enjoys a significant reduction of the computational effort for gravity compensation design.

Keywords

  • Gravity compensation
  • Static balancing
  • Stiffness analysis

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  • DOI: 10.1007/978-3-030-30036-4_3
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Author information

Authors and Affiliations

  1. National Taiwan University of Science and Technology, Taipei, 106, Taiwan

    Nguyen Vu Linh

  2. University of Wollongong, Wollongong, NSW, 2522, Australia

    Chin-Hsing Kuo

Authors
  1. Nguyen Vu Linh
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  2. Chin-Hsing Kuo
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Corresponding author

Correspondence to Chin-Hsing Kuo .

Editor information

Editors and Affiliations

  1. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW, Australia

    Prof. Chin-Hsing Kuo

  2. Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan

    Pei-Chun Lin

  3. Department of Mechanical Engineering, National Central University, Taoyuan City, Taiwan

    Prof. Terence Essomba

  4. Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan

    Prof. Guan-Chen Chen

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Linh, N.V., Kuo, CH. (2020). Performance Evaluation of a Class of Gravity-Compensated Gear-Spring Planar Articulated Manipulators. In: Kuo, CH., Lin, PC., Essomba, T., Chen, GC. (eds) Robotics and Mechatronics. ISRM 2019. Mechanisms and Machine Science, vol 78. Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_3

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