An Improved Design of Gravity Compensators Based on the Inverted Slider-Crank Mechanism

[+] Author and Article Information
Vigen Arakelian

20 avenue des Buttes de Coesmes CS 70839 Rennes, 35708 France vigen.arakelyan@insa-rennes.fr

Yang Zhang

3 rue de la châtaigneraie Cesson-Sévigné, 35510 France yang.zhang@insa-rennes.fr

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received October 7, 2018; final manuscript received February 8, 2019; published online xx xx, xxxx. Assoc. Editor: Shaoping Bai.

ASME doi:10.1115/1.4043049 History: Received October 07, 2018; Accepted February 18, 2019


The static balancing of mechanical systems is an important issue because it allows one to significantly decrease the size of actuators for equivalent displacements of the end effector. Indeed, the actuators do not have to produce the required input energy to counterbalance the variation of the potential energy of the robot. However, the literature review shows that in many cases the gravity balancing of mechanical systems is carried out by neglecting the masses of auxiliary links associated to the principal mechanism. For many balancing schemes it is the source of errors.

This paper deals with an improved solution for gravity compensators based on the inverted slider crank mechanism considering the masses of the rocker and the spring. For this purpose, the torques due to auxiliary links are determined. Then, they are introduced into the balancing equation for minimization of the residual unbalance. In this way, a more accurate balancing of gravity compensators based on the inverted slider-crank mechanism is achieved. The efficiency of the suggested approach is illustrated by numerical simulations.

Copyright © 2019 by ASME
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