Gravity compensation of parallel kinematics mechanism using torsional springs based on potential energy optimization

2018 ◽  
Author(s):  
Abdur Rosyid ◽  
Bashar El-Khasawneh ◽  
Anas Alazzam
Keyword(s):  
Potential Energy ◽  
Energy Optimization ◽  
Gravity Compensation ◽  
Parallel Kinematics

Static Balancing of a Parallel Kinematics Machine With Linear-Delta Architecture

2014 ◽  
Author(s):  
Alberto Martini ◽  
Marco Troncossi ◽  
Marco Carricato ◽  
Alessandro Rivola
Keyword(s):  
General Theory ◽  
Closed Loop ◽  
Parallel Robot ◽  
Design Solution ◽  
Robot Design ◽  
Gravity Compensation ◽  
Parallel Kinematics ◽  
Static Balancing ◽  
Milling Operation ◽  
Working Performance

The study deals with the compensation of gravity loads in closed-loop mechanisms as a possible strategy for enhancing their working performance. This work focuses on the Orthoglide 5-axis, a prototypal parallel robot for milling operation, characterized by linear-delta architecture with two further serial DOFs. Starting from a general theory formerly proposed by the authors, gravity compensation of the mechanism is analytically carried out. The statically balanced Orthoglide 5-axis can be obtained by installing on one leg a proper set of extension springs and a simple additional linkage. A feasible design solution for developing the device in practice is presented. The proposed balancing device can be implemented with minor modifications of the original robot design, thus appearing a profitable solution to be possibly extended to other machinery with similar architecture.

Energieeffizienz von lufttechnischen Anlagen/Energy efficiency of HVAC systems - Case study of the ETA transfer project in the machining industry

2021 ◽  
Vol 111 (01-02) ◽  
pp. 31-36
Author(s):  
Lars Petruschke ◽  
Max Burkhardt ◽  
Benedikt Grosch ◽  
Thomas Kohne ◽  
Matthias Weigold ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Potential Energy ◽  
Air Conditioning ◽  
Energy Optimization ◽  
Hvac Systems ◽  
Energy Efficiency Measures ◽  
Efficiency Measures ◽  
Supply Systems

Im Projekt ETA-Transfer werden Produktionsanlagen sowie die entsprechenden versorgungstechnischen Anlagen hinsichtlich energetischer Optimierungspotenziale untersucht. Bei sieben Unternehmen werden die jeweiligen lufttechnischen Anlagen analysiert. Hierzu werden Mess- und Unternehmensdaten erhoben, um dann mittels Simulationen potenzielle Energieeffizienzmaßnahmen bewerten zu können. Insgesamt wird in der Fallstudie ein CO2-Einsparpotenzial von circa 870 t/a identifiziert.   The ETA transfer project investigates production plants as well as the corresponding technical supply systems regarding their potential for energy optimization. The heating, ventilation and air conditioning (HVAC) systems of seven companies are analyzed. For this purpose, measurement and company data is collected to simulate and evaluate potential energy efficiency measures. The case study identifies a CO2 savings potential totalling approximately 870 t/a.

scholarly journals Design of a 4-DoF (degree of freedom) hybrid-haptic device for laparoscopic surgery

2021 ◽  
Vol 12 (1) ◽  
pp. 155-164
Author(s):  
Houssem Saafi ◽  
Med Amine Laribi ◽  
Said Zeghloul
Keyword(s):  
Laparoscopic Surgery ◽  
Degrees Of Freedom ◽  
Haptic Device ◽  
Haptic Interface ◽  
Gravity Compensation ◽  
Parallel Kinematics ◽  
Dimensional Synthesis ◽  
Parallel Chain ◽  
Serial Chain ◽  
Kinematic Performance

Abstract. This paper presents a novel kinematics architecture with 4 DoFs (degrees of freedom) intended to be used as a haptic interface for laparoscopic surgery. The proposed architecture is a result of an association of serial and parallel kinematics chains, with each one handling a part of the whole device DoF. The serial chain allows one to handle the translation and self-rotation and the parallel chain handles the two tilt motions, and this in a disjoint way as the natural gesture of the surgeon. The proposed hybrid-haptic device (HH device) benefits from the split DoF to ensure a good kinematic performance, large workspace, as well as gravity compensation. The kinematics study of the HH device is presented and followed by the optimal dimensional synthesis and the gravity compensation model.

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