Gravity compensation in robotics

Arakelian, Vigen

doi:10.1080/01691864.2015.1090334

Cited by 145 publications

(47 citation statements)

References 74 publications

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“…In the broader field of robotics many spring-based gravity balancing mechanisms have been devised. However, in most cases these also use linear extension and compression springs in combination with rigid mechanisms [13].…”

Section: B Research Approachmentioning

confidence: 99%

Gravity Balancing Flexure Springs for an Assistive Elbow Orthosis

Tschiersky

Hekman

Brouwer

et al. 2019

IEEE Trans. Med. Robot. Bionics

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In this paper, we propose a flexure spring based gravity compensation device which provides assistance to lift the forearm. Three different spring designs are obtained and evaluated. The synthesis method to obtain these is explained in detail and an experimental evaluation validates the desired gravity balancing properties. It is found that in comparison to a flexure spring with constant thickness, a variable thickness distribution along the spring leads to a drastic reduction of its width, which amounts to 81 % in the presented case, and offers an energy to weight ratio that is 94 % higher. Employing a nested spring design further increases the storable elastic energy of the variable thickness design by 145 % through utilization of the otherwise unused space within the original spring envelope. A proof-of-concept prototype is built to illustrate a practical implementation. The presented synthesis method provides a tool to obtain gravity balancing flexure springs that offer a promising solution for the design of assistive devices which aim to be both wearable and inconspicuous.Index Terms-Gravity balancing, wearable device, assistive orthosis, arm support, flexure spring.

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Section: B Research Approachmentioning

confidence: 99%

Gravity Balancing Flexure Springs for an Assistive Elbow Orthosis

Tschiersky

Hekman

Brouwer

et al. 2019

IEEE Trans. Med. Robot. Bionics

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“…These mechanisms can be achieved by implementing passive compensation methods using mechanical parts or active compensation methods using electric motors. 17 Inevitably, in passive methods, the additional mechanical parts, such as counterweights and springs, can increase not only the volume and mass, but also the structural complexity and design cost of the system. To overcome this, active methods employing electric motors with elaborate controls are frequently used.…”

Section: The Representative Limitations Include Insufficient Workpacmentioning

confidence: 99%

“…Since the link lengths is directly related to the overall weight of the manipulator, the master manipulator having a long link length, such as da Vinci master, requires gravity compensation mechanisms. These mechanisms can be achieved by implementing passive compensation methods using mechanical parts or active compensation methods using electric motors . Inevitably, in passive methods, the additional mechanical parts, such as counterweights and springs, can increase not only the volume and mass, but also the structural complexity and design cost of the system.…”

Section: Introductionmentioning

confidence: 99%

A master manipulator with a remote‐center‐of‐motion kinematic structure for a minimally invasive robotic surgical system

Lee

Cheon

Hwang

et al. 2017

Robotics Computer Surgery

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“…Experiments executed in this proposed environment prove the novel method can be applied on a three-degree of freedom architecture, however, unlike the previous one-degree of freedom experiments, the proposed bilateral delta robots are affected by gravity, impairing the movement of the mechanism and accuracy of the method. Therefore a gravity compensation method [14] is also studied to improve on the accuracy of the proposed two-channel bilateral controled delta robots. This gravity compensation method is a non-mechanical solution based on the study of the Kinematics of the Delta robot architecture [8].…”

Section: Introductionmentioning

confidence: 99%

Two-Channel Bilateral Control of Delta Robots with Gravity Compensation

Deras

Fujimoto

2018

2018 IEEE 27th International Symposium on Industrial Electronics (ISIE)

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This paper presents three-dimensional bilateral delta robots based on a novel transfer-function-based two-channel bilateral control system. This configuration has proven to provide better control perfomance while only requiring two channels of communication, for position information exchange, as opposed to the traditional four-channel bilateral control method. The proposed three-dimensional bilateral Delta robot architecture proves to have good performance, however it is affected by gravity, and therefore, in order to ensure smooth operation of the delta robots we introduce a compensation for gravity on the bilateral control system, based on the analysis of the kinematics of the delta configuration. In this paper, we discuss the application of transfer-function-based two-channel bilateral control to three-dimensional delta robots, and the accuracy improvement obtained by the application of gravity compensation to the two-channel bilateral control.

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Gravity compensation in robotics

Cited by 145 publications

References 74 publications

Gravity Balancing Flexure Springs for an Assistive Elbow Orthosis

Gravity Balancing Flexure Springs for an Assistive Elbow Orthosis

A master manipulator with a remote‐center‐of‐motion kinematic structure for a minimally invasive robotic surgical system

Two-Channel Bilateral Control of Delta Robots with Gravity Compensation

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