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Spring Gravity Compensation Using the Noncircular Pulley and Cable for the Less-Spring Design
並列摘要
This work proposed a new method for a gravity compensation using the noncircular pulley, cable driving, and spring balancer. The noncircular pulley is arranged in the front of one transmission chain. When the mechanism apply this method for the gravity compensation of some multi-DOF and multilink manipulator, it can be achieved that a perfect gravity balance and less number of springs. To obtain the parameter and arrangement of the spring and transmission, the potential energy related to the transmission structure is discussed. Based on the invariance of all the potential energy of a static balance mechanism, some design rules and cases are presented to get the transmission function. In this study, the synthesis of the noncircular pulley is demonstrated according to the established transmission function. At last, the example of gravity compensation for two-DOF yaw-pitch mechanism is presented.
被引用紀錄
延伸閱讀
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