Most passive gravity balancing mechanisms (GBMs) require manual adjustment or actuators to alter its parameters for different payloads. The few balancers that passively self-regulate employ regulation at the end-effector, which makes the end-effector bulky. Additionally, there is a lack of systematic approach to design such compensators. Hence, this paper provides a review of current work which serves as the basis for a systematic design approach to solve the problem. Unlike previous designs, an independent self-regulating mechanism is mounted onto the proximal link of the GBM achieving better safety, larger range of motion, and loading at intermediate angles. The GBM is designed using design tools like functional modeling and morphological analysis with existing literature. This approach reveals design considerations of current GBMs and areas for innovation. Design approaches from the literature are organized and serve as a reference for innovation. A prototype is developed, and experiments are performed to illustrate the capability.
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October 2019
Research-Article
Design of a Passive Self-Regulating Gravity Compensator for Variable Payloads
Dexter X. H. Chew,
Dexter X. H. Chew
Engineering Product Development,
Singapore 487372,
e-mail: dexter_chew@mymail.sutd.edu.sg
Singapore University of Technology and Design
,Singapore 487372,
Singapore
e-mail: dexter_chew@mymail.sutd.edu.sg
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Kristin L. Wood,
Kristin L. Wood
Engineering Product Development,
Singapore 487372,
e-mail: kristinwood@sutd.edu.sg
Singapore University of Technology and Design
,Singapore 487372,
Singapore
e-mail: kristinwood@sutd.edu.sg
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U.-Xuan Tan
U.-Xuan Tan
1
Engineering Product Development,
Singapore 487372,
e-mail: uxuan_tan@sutd.edu.sg
Singapore University of Technology and Design
,Singapore 487372,
Singapore
e-mail: uxuan_tan@sutd.edu.sg
1Corresponding author.
Search for other works by this author on:
Dexter X. H. Chew
Engineering Product Development,
Singapore 487372,
e-mail: dexter_chew@mymail.sutd.edu.sg
Singapore University of Technology and Design
,Singapore 487372,
Singapore
e-mail: dexter_chew@mymail.sutd.edu.sg
Kristin L. Wood
Engineering Product Development,
Singapore 487372,
e-mail: kristinwood@sutd.edu.sg
Singapore University of Technology and Design
,Singapore 487372,
Singapore
e-mail: kristinwood@sutd.edu.sg
U.-Xuan Tan
Engineering Product Development,
Singapore 487372,
e-mail: uxuan_tan@sutd.edu.sg
Singapore University of Technology and Design
,Singapore 487372,
Singapore
e-mail: uxuan_tan@sutd.edu.sg
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received April 18, 2018; final manuscript received February 26, 2019; published online May 23, 2019. Assoc. Editor: Joo H. Kim.
J. Mech. Des. Oct 2019, 141(10): 102302 (11 pages)
Published Online: May 23, 2019
Article history
Received:
April 18, 2018
Revision Received:
February 26, 2019
Accepted:
April 10, 2019
Citation
Chew, D. X. H., Wood, K. L., and Tan, U. (May 23, 2019). "Design of a Passive Self-Regulating Gravity Compensator for Variable Payloads." ASME. J. Mech. Des. October 2019; 141(10): 102302. https://doi.org/10.1115/1.4043582
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