A Simple Technique to Passively Gravity-Balance Articulated Mechanisms-Reference-Cited by-同舟云学术

A Simple Technique to Passively Gravity-Balance Articulated Mechanisms

Published:1995-12-01 Issue:4 Volume:117 Page:655-658
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Rahman T.¹,Ramanathan R.²,Seliktar R.³,Harwin W.¹

Affiliation:

1. University of Delaware/A.I. duPont Institute, Applied Science and Engineering Laboratories, A.I. duPont Institute, 1600 Rockland Road, P.O. Box 269, Wilmington, DE 19899

2. A.I. duPont Institute/Drexel University, Applied Science and Engineering Laboratories, A.I. duPont Institute, 1600 Rockland Road, P.O. Box 269, Wilmington, DE 19899

3. Department of Mechanical Engineering and Mechanics, Drexel University, 32nd and Chestnut Streets, Philadelphia, PA 19104

Abstract

A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applications in robotics, orthotics and a host of everyday mechanisms.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/117/4/655/5582759/655_1.pdf

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