Design of Compact Variable Gravity Compensator (CVGC) Based on Cam and Variable Pivot of a Lever Mechanism

Kim, Jehyeok; Moon, Junyoung; Kim, Jong-Won; Lee, Giuk

doi:10.1109/iros40897.2019.8967609

Cited by 9 publications

(1 citation statement)

References 17 publications

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“…According to the existing research findings, unfortunately, the primary challenge of the current static balancing mechanisms is that they cannot be applied to continuously change payload values. [33][34][35][36][37][38] Even if the payload can be adjusted, it can only be applied to the intermittent adjustment, that is, the relative position of each component of the balancing mechanism needs to be correspondingly adjusted at a specific position for variable payload. In addition, some balancing devices cannot match the needs of space docking tasks.…”

Section: Introductionmentioning

confidence: 99%

A static balancing mechanism with continuously variable payload capacity for space docking simulation

Xue

Liu

Wang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a novel static balancing mechanism is presented to realize gravity compensation in the application of the space docking simulation. By optimizing the relative positions of the compensation pulley block and suspension pulley block, the proposed gravity balancing device achieves static balance in geometry and hence is applicable to continuous variable payload environments. The static balancing mechanism is developed firstly, and its design philosophy is described in detail. By adopting the genetic algorithm (GA) and steepest descent method (SDM) simultaneously, the optimal structural configuration with small trajectory fluctuation in the direction of gravity is obtained. Furthermore, the effect of structural parameters on gravity compensation performance is evaluated. Experimental results and error analysis demonstrate the gravity balancing capability, which indicates the rationality and effectiveness of the proposed device in the space docking condition.

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Section: Introductionmentioning

confidence: 99%

A static balancing mechanism with continuously variable payload capacity for space docking simulation

Xue

Liu

Wang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Series Parallel Elastic Actuator: Variable Recruitment of Parallel Springs for Partial Gravity Compensation

Furnémont

Mathijssen

Verstraten

et al. 2022

Gravity Compensation in Robotics

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Technological, Ethical, Environmental and Legal Aspects of Robotics

2021

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Robotics is considered by modern researchers from various positions. The most common technical approach to the study of this concept, which examines the current state and achievements in the field of robotics, as well as the prospects for its development. Also, quite often in recent years, legal experts have begun to address problems related to the development of robotics, focusing on issues related to the legal personality of robots and artificial intelligence, as well as the responsibility of AI for causing harm. A separate direction in the field of robotics research is the analysis of this concept and the relations associated with it, from the standpoint of morality, ethics and technologies.

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Design of Compact Variable Gravity Compensator (CVGC) Based on Cam and Variable Pivot of a Lever Mechanism

Cited by 9 publications

References 17 publications

A static balancing mechanism with continuously variable payload capacity for space docking simulation

A static balancing mechanism with continuously variable payload capacity for space docking simulation

Series Parallel Elastic Actuator: Variable Recruitment of Parallel Springs for Partial Gravity Compensation

Technological, Ethical, Environmental and Legal Aspects of Robotics

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