On the design of a statically balanced serial robot using remote counterweights

Lacasse, Marc-Antoine; Lachance, Geneviève; Boisclair, Julien; Ouellet, Jeremie; Gosselin, Clément

doi:10.1109/icra.2013.6631169

Cited by 35 publications

(8 citation statements)

References 10 publications

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“…It is therefore beneficial to counterbalance the gravitational torques resulting from robot mass, and accordingly employ the motor efforts for gravitational torque of varying payload and the inertial torques. Despite several advancements toward such efficient robotic manipulators using spring-based counterbalancing, the majority of such systems are often bulky and heavy, with a small range of rotation, and their utilization is limited to a one or two DOFs, see designs proposed by Koser ( 2009 ), Nakayama et al ( 2009 ), and Lacasse et al ( 2013 ). Passive gravity compensation using a counterbalance spring-based mechanism can rely upon various concepts, including (1) Wire-based systems, e.g., the service robotic arm proposed by Kim and Song ( 2014 ); (2) Gear-based devices; (3) Linkage-based mechanisms, such as the slider-crank based system developed by Kim et al ( 2016 ).…”

Section: Compliant Actuationmentioning

confidence: 99%

An Overview on Principles for Energy Efficient Robot Locomotion

et al. 2018

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Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.

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Section: Compliant Actuationmentioning

confidence: 99%

An Overview on Principles for Energy Efficient Robot Locomotion

et al. 2018

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“…Generally, gravity balancing can be accomplished by using counterweights, springs, principles of hydraulics or electromagnetism. 14 Sometimes, their combination may be used as in the case for the paper 15 proposing an arm where the gravity balancing (or statically compensation) is realized by counterweights and the basis of hydraulics. The counterweights are not located on the arm, so that the mechanism is not added extra inertia.…”

Section: Introductionmentioning

confidence: 99%

“…The mechanism using pneumatic cylinders has better performance. Lacasse et al 15 decreased the friction by using hydraulic cylinders with diaphragm even though those cylinders have their own drawbacks such as small stroke length. Chiang and Chen 29 implemented a balancing method using springs to take into consideration the payload variation of the planar mechanism consisting of serially connected three links.…”

Section: Introductionmentioning

confidence: 99%

A gravitational torque-compensated 2-DOF planar robotic arm design and its active control

Bulut

Conkur

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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Serial robot manipulators have their servo motors with reduction gears on the link joints. When it comes to hyper-redundant robots, this kind of joint actuation mechanism cannot be implemented since this makes hyper-redundant robots too heavy. Instead, cable driven mechanisms are preferred. However, the positioning accuracy is negatively affected by the cables. This paper addresses the positioning accuracy problem of cable driven hyper-redundant robots by employing a 2-DOF robotic arm whose modules are counter-balanced. While the actuators connected to the base actively do most of the work using cables and springs, light and compact actuators connected to the links produce precise motion. The method will result in compact, light and precise hyper-redundant robotic arms. The above-mentioned procedure governed by a control software including a 2D simulator developed is experimentally proved to be a feasible method to compensate the gravitational torque successfully.

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“…Rolling diaphragm cylinders with the higher stroke-to-bore ratios could multiply the work per cycle of the system [2]. Furthermore, there are limitations of using short stroke length rolling diaphragm cylinders [3] [4]. A more thorough friction evaluation of various cylinder technologies is needed to determine which technology has the lowest friction and is most appropriate for low pressure hydraulic systems like rehabilitation robots.…”

Section: Introductionmentioning

confidence: 99%

Low Friction, Long-Stroke Rolling Diaphragm Cylinder for Passive Hydraulic Rehabilitation Robots

Hashemi

Durfee

2017

2017 Design of Medical Devices Conference

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Hydraulic actuators are commonly used in mechanical systems, and actuator efficiency is one of the most important factors in these systems [1]. The energy loss to overcome friction force makes the actuator less efficient. Wearable rehabilitation robotics is one of the applications of hydraulic actuators. Hydraulic cylinders deliver the power extracted from the external resources and/or less stroke-affected limbs to the more stroke-affected limbs (Fig. 1). O-ring seal, rolling diaphragm, and gap seal cylinders are three common technologies that have been used in different hydraulic systems for years. O-ring seal actuators use an O-ring seal between the piston and cylinder. Rolling diaphragm actuators have a diaphragm between the cylinder and piston which rolls back and forth. In gap seal cylinders, there is a gap between the piston and cylinder. Since it is a tradeoff between leakage and friction, leakage between the two chambers in these cylinders is tolerated to reduce friction (Fig. 2). One study examined low friction cylinders in a low pressure hydraulic transmission [2]. In this study, rolling diaphragm cylinders were used in the transmission, but the restriction on stroke length of these cylinders is a problem that needs to be solved. Commercial rolling diaphragms are manufactured using compression molding of a sheet rubber and woven fabric [2], a manufacturing method that limits the stroke length to no more than the bore of the cylinder. Rolling diaphragm cylinders with the higher stroke-to-bore ratios could multiply the work per cycle of the system [2]. Furthermore, there are limitations of using short stroke length rolling diaphragm cylinders [3] [4]. A more thorough friction evaluation of various cylinder technologies is needed to determine which technology has the lowest friction and is most appropriate for low pressure hydraulic systems like rehabilitation robots. Developing a low friction, leakage-free cylinder without stroke limitations is needed for small hydraulics. Using an experimental test, we measured the resistance forces in three types of cylinders: O-ring, gap seal, and rolling diaphragm. The cylinders were tested at low-pressure and with mineral oil to determine the lowest friction cylinder technology. The same friction test was performed in a novel, long-stroke, rolling diaphragm cylinder (LSRD) to compare it in two different thicknesses with commercial actuators.

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On the design of a statically balanced serial robot using remote counterweights

Cited by 35 publications

References 10 publications

An Overview on Principles for Energy Efficient Robot Locomotion

An Overview on Principles for Energy Efficient Robot Locomotion

A gravitational torque-compensated 2-DOF planar robotic arm design and its active control

Low Friction, Long-Stroke Rolling Diaphragm Cylinder for Passive Hydraulic Rehabilitation Robots

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