Research Papers

Design of a Gravity-Balanced General Spatial Serial-Type Manipulator

[+] Author and Article Information
Po-Yang Lin

Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwan

Win-Bin Shieh

Department of Mechanical Engineering, Mingchi University of Technology, Taipei 24301, Taiwan

Dar-Zen Chen2

Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwandzchen@ntu.edu.tw


Corresponding author.

J. Mechanisms Robotics 2(3), 031003 (Jun 21, 2010) (7 pages) doi:10.1115/1.4001816 History: Received January 05, 2010; Revised April 29, 2010; Published June 21, 2010; Online June 21, 2010

A novel methodology for the design of a gravity-balanced serial-type spatial manipulator is presented. In the design, gravity effects of the system can be completely compensated at any configuration. The gravity balance of the n-DOF manipulator is achieved by the suspensions of only n zero-free-length springs, where each spring is individually fitted between a primary link and its adjacent auxiliary link. No spring has to be installed across the spatial manipulator from a far remote link to ground such that the motion interference among the springs and the links can be prevented. Besides, since the embedded auxiliary links along the primary links of the manipulator form a series of spatial parallelogram revolute-spherical-spherical-revolute modules, the active DOFs of the system remain the same as the primary manipulator and the range of motion of the manipulator will not be hindered. As a result, the n-DOF manipulator can serve the general function of an articulated serial-type manipulator in kinematics. The simulated results of a 6DOF gravity-balanced manipulator modeled on ADAMS shows that the static equilibrium as well as the kinematics of the system can be successfully accomplished by this proposed methodology.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 1

A segment of the n serially connected links

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Figure 2

Gravity balance of a rigid body mounted on ground with a single spring

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Figure 3

Spring triangle AiBiCi for each link i

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Figure 4

Pseudobases and the attached springs

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Figure 5

A spatial parallelogram RSSR linkage

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Figure 6

Two consecutive RSSR linkages in series

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Figure 7

The general n-DOF spatial manipulator

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Figure 8

A 6DOF gravity-balanced manipulator

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Figure 9

Variations of potential energies



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