Development of a robotic carotid blood measurement WTA-1RII: Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA

2009 ◽  
Author(s):  
Ryu Nakadate ◽  
Hisato Uda ◽  
Hiroaki Hirano ◽  
Jorge Solis ◽  
Atsuo Takanishi ◽  
...  
Keyword(s):  
Parallel Manipulator ◽  
Gravity Compensation ◽  
Compensation Mechanism

scholarly journals Novel Gravity Compensation Mechanism by Using Wire-Winding

2016 ◽  
Vol 22 (9) ◽  
pp. 733-737
Author(s):  
DongGyu Lee ◽  
SangHo Lee ◽  
JungWhan Park ◽  
TaeWon Seo
Keyword(s):  
Gravity Compensation ◽  
Compensation Mechanism

Vertical Planar Underactuated Manipulation Using a Gravity Compensation Mechanism

2005 ◽  
Vol 17 (5) ◽  
pp. 553-559 ◽  
Author(s):  
Yoshiki Ono ◽  
◽  
Toshio Morita ◽  
Keyword(s):  
Degrees Of Freedom ◽  
Position Control ◽  
Equilibrium Points ◽  
Gravity Compensation ◽  
Compensation Mechanism ◽  
Angular Variation ◽  
Underactuated Manipulator ◽  
Zero Equilibrium ◽  
Three Degrees Of Freedom ◽  
Active Base

We propose generating and erasing equilibrium points for passive joints, together with an underactuated manipulator having both vertical and horizontal planar type. This manipulator implements three degrees of freedom (DOF) by combining a passive two-DOF mechanical gravity canceller and an active base joint. Equilibrium points are erased and adjusted by angular variation of the base joint so equilibrium points are erased when gravity torque is zero. If gravity torque is not zero, equilibrium points depend on angular variation of the base joint. Experimental results show position control of the distal link through the mechanical gravity canceller is effective for underactuated manipulation.

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