scholarly journals Design and Prototype of Variable Gravity Compensation Mechanism (VGCM)

2011 ◽  
Vol 23 (2) ◽  
pp. 249-257 ◽  
Author(s):  
Naoyuki Takesue ◽  
◽  
Takashi Ikematsu ◽  
Hideyuki Murayama ◽  
Hideo Fujimoto ◽  
...  
Keyword(s):  
Equilibrium Position ◽  
Gravity Compensation ◽  
Compensation Mechanism ◽  
Constant Weight ◽  
Compensation Mechanisms ◽  
Variable Gravity

A machine moving vertically requires strong gravitational resistance. Gravity compensation mechanisms devised to reduce actuator force mostly compensate for constant weight, but practical use requires that the mechanism compensate for weight variations. This paper presents a Variable Gravity Compensation Mechanism (VGCM) that uses two types of linear springs and changes the equilibrium position of one. The mechanism principle is described and the prototype is designed. Performance is experimentally confirmed.

Scissor lift with real-time self-adjustment ability based on variable gravity compensation mechanism

2016 ◽  
Vol 30 (15) ◽  
pp. 1014-1026 ◽  
Author(s):  
Naoyuki Takesue ◽  
Yosuke Komoda ◽  
Hideyuki Murayama ◽  
Kousyun Fujiwara ◽  
Hideo Fujimoto
Keyword(s):  
Real Time ◽  
Gravity Compensation ◽  
Compensation Mechanism ◽  
Variable Gravity

2P1-D11 Design and Development of Variable Gravity Compensation Mechanism

2010 ◽  
Vol 2010 (0) ◽  
pp. _2P1-D11_1-_2P1-D11_2
Author(s):  
Naoyuki TAKESUE ◽  
Takashi IKEMATSU ◽  
Hideyuki MURAYAMA ◽  
Hideo FUJIMOTO
Keyword(s):  
Gravity Compensation ◽  
Compensation Mechanism ◽  
Design And Development ◽  
Variable Gravity

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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