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RISDesign of a Compact Gear-Spring Mechanism for Static Balancing of Variable Payloads
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The design of mechanisms for the static balancing of a rotating and weight-varying link has tremendous implications for mechanical structures and robotic systems. This article presents a compact gear-spring mechanism (CGSM) ...
Realization of a GearSpring Balancer With Variable Payloads and Its Application to Serial Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a method for realizing a gearspring balancer (GSB) that can cope with variable payloads and its application to serial robots. The GSB is constructed with a threegear train articulating a nonzerofreelength ...
Gravity Balancing of a Two-Degree-of-Freedom Parallel Robotic Platform With Variable Payloads
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a gravity-balancing method for a two-degree-of-freedom (2-DoF) parallel robotic platform with variable payloads. The robotic platform is constructed with a parallelogram-based five-bar parallel mechanism, ...
Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a method for realizing a gear-spring balancer (GSB) that can cope with variable payloads and its application to serial robots. The GSB is constructed with a three-gear train articulating a nonzero-free-length ...
Analytical Design of an Adjustable Constant-Force Mechanism for Body Weight Support Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. Body weight support systems (BWSSs) are widely used in rehabilitation to assist patients by completely or partially unloading body weight, thereby reducing joint loading and enhancing stability during gait training. ...
A Multi-Objective Optimal Design Method for Gravity Compensators With Consideration of Minimizing Joint Reaction Forces
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a multi-objective optimal design method for gravity compensators with consideration of minimizing the joint reaction forces. High performance of the gravity compensation is achieved while the joint ...
Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article proposes a method for analyzing the gravity balancing reliability of spring-articulated serial robots with uncertainties. Gravity balancing reliability is defined as the probability that the torque reduction ...
Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a design concept for gravity compensation of planar articulated robotic arms using a series of gear-slider mechanisms with springs. The spring-attached gear-slider mechanism has one degree-of-freedom ...
Gravity Compensation for Variable Payloads Using Slider-Guided Compression Springs
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. Gravity compensation is crucial for improving the energy efficiency of robotic systems, but achieving static balancing with variable payloads remains a design challenge. This article proposes a gravity compensation ...
Statically Balancing a Reconfigurable Mechanism by Using One Passive Energy Element Only: A Case Study
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the static balancing design of a special reconfigurable linkage that can switch between two one-degree-of-freedom (DoF) working configurations. We will show that the studied dual-mode linkage only ...