Manufacturing Technology Today

Open Access Open Access  Restricted Access Subscription Access
Open Access Open Access Open Access  Restricted Access Restricted Access Subscription Access

Review on Gravity Compensation by Mechanism Synthesis


Affiliations
1 Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, India
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, India
     

   Subscribe/Renew Journal


An articulated robot spends a very high amount of energy carrying the weight of its own arm while working against gravity, which results in an increase in size actuators, which also increases the expense and weight of the system. Thus, a high amount of actuated power is utilized to compensate for the gravitational torques. Gravitational Torques are generated due to the mass of the robot arm and inertia of the payload. This torques severely affect the dynamic performance of the robot and the ability to withstand external forces. The presented review paper gives a detailed idea on various methods to compensate the gravitational torque, in which the gravity effect is compensated fully by a mechanical structure that reduces the actuator size.

Keywords

Counter balance, Compensation, Non-Linear Spring, Pulley and Gear.
User
Subscription Login to verify subscription
Notifications
Font Size

  • Chheta, Y., Joshi, R., Gotewal, K.K., & Manoahstephen, M. (2017, January). Review on passive gravity compensation. In Proceedings of the International Conference on Electronics, Communication and Aerospace Technology, ICECA 2017, 184–189. Institute of Electrical and Electronics Engineers Inc.

  • Endo, G., Yamada, H., Yajima, A., Ogata, M., & Hirose, S. (2010). Passive weight compensation mechanism with a non-circular pulley and a spring. In Proceedings - IEEE International Conference on Robotics and Automation, 3843–3848.

  • Fattah, A., Hajizadeh, K., & Agrawal, S.K. (2011). Gravity balancing of a human leg using an external orthosis. Journal of Medical Devices, Transactions of the ASME, 5(1).

  • Hung, Y.C., & Kuo, C.H. (2017). Novel one-DoF gravity balancer based on cardan gear mechanism. In Mechanisms and Machine Science, 43, 261–268. Kluwer Academic Publishers.

  • Delphine, K., Jean-Pierre, F., & Y,P. (2008). ITER Relevant Robot for Remote Handling: On the Road to Operation on Tore Supra. In Advances in Service Robotics. InTech.

  • Kim, K.Y., Song, H.S., Suh, J.W., & Lee, J.J. (2013). Novel surgical manipulator with workspaceconversion ability for telesurgery. IEEE/ASME Transactions on Mechatronics.

  • Krüger, J., Bernhardt, R., & Surdilovic, D. (2006). Intelligent assist systems for flexible assembly. CIRP Annals - Manufacturing Technology, 55(1), 29–32.

  • Rahman, T., Ramanathan, R., Seliktar, R., & Harwin, W. (1995). Simple technique to passively gravity-balance articulated mechanisms. Journal of Mechanical Design, Transactions of the ASME, 117(4), 655–657.

  • Rogerio, Y., Andre, H., & Oswaldo, H. (2010). Load Balancer With Automatic Lifting Force Compensation. ABCM Symposium Series in Mechatronics, 4, 580-589.

  • Shigematsu, H., Tsujita, K., & Kishimoto, N. (2014). Development of a gravity compensation system for the prototype test of spacecraft by using mobile type multi robots. In MOVIC 2014 - 12th International Conference on Motion and Vibration Control. Japan Society of Mechanical Engineers.

  • Arakelian, V. (2016). Gravity compensation in robotics. Advanced Robotics, 30(2), 79–96. Taylor & Francis.


Abstract Views: 244

PDF Views: 0




  • Review on Gravity Compensation by Mechanism Synthesis

Abstract Views: 244  |  PDF Views: 0

Authors

Purav P. Parekh
Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, India
Krishan Kumar Gotewal
Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, India
M. Manoah Stephen
Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, India
Kaushal Bhavsar
Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, India

Abstract


An articulated robot spends a very high amount of energy carrying the weight of its own arm while working against gravity, which results in an increase in size actuators, which also increases the expense and weight of the system. Thus, a high amount of actuated power is utilized to compensate for the gravitational torques. Gravitational Torques are generated due to the mass of the robot arm and inertia of the payload. This torques severely affect the dynamic performance of the robot and the ability to withstand external forces. The presented review paper gives a detailed idea on various methods to compensate the gravitational torque, in which the gravity effect is compensated fully by a mechanical structure that reduces the actuator size.

Keywords


Counter balance, Compensation, Non-Linear Spring, Pulley and Gear.

References