Abstract
In this paper, we propose a passive gravity vector control mechanism, which named "Mechanical Gravity Generator (MGG)." From development and geometry calculation of a link model with the MGG, it is clarified that our device has three advantages described below in comparison with conventional passive gravity compensation mechanisms and other handling mechanisms. (1) In all directions, it allows the passive stabilization of the links by setting parameters of MGG. (2) MGG increases the payload than conventional passive gravity compensation mechanisms when the link position is under the equilibrium positions. (3) The equilibrium positions of serial links with MGG can be designed independently for each link. In conclusion, the novel device enabled to get high power and easy posture control by the effect of generated virtual gravity.
| Original language | English |
|---|---|
| Pages (from-to) | 3672-3683 |
| Number of pages | 12 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 77 |
| Issue number | 782 |
| Publication status | Published - 2011 |
| Externally published | Yes |
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Keywords
- Balancing
- Geometry calculation
- Material handling equipment
- Mechanism
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
- Industrial and Manufacturing Engineering
Cite this
A fundamental kinematic analysis of virtual gravity controller for serial link mechanism. / Yamada, Yasuyuki; Morita, Toshio.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 77, No. 782, 2011, p. 3672-3683.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A fundamental kinematic analysis of virtual gravity controller for serial link mechanism
AU - Yamada, Yasuyuki
AU - Morita, Toshio
PY - 2011
Y1 - 2011
N2 - In this paper, we propose a passive gravity vector control mechanism, which named "Mechanical Gravity Generator (MGG)." From development and geometry calculation of a link model with the MGG, it is clarified that our device has three advantages described below in comparison with conventional passive gravity compensation mechanisms and other handling mechanisms. (1) In all directions, it allows the passive stabilization of the links by setting parameters of MGG. (2) MGG increases the payload than conventional passive gravity compensation mechanisms when the link position is under the equilibrium positions. (3) The equilibrium positions of serial links with MGG can be designed independently for each link. In conclusion, the novel device enabled to get high power and easy posture control by the effect of generated virtual gravity.
AB - In this paper, we propose a passive gravity vector control mechanism, which named "Mechanical Gravity Generator (MGG)." From development and geometry calculation of a link model with the MGG, it is clarified that our device has three advantages described below in comparison with conventional passive gravity compensation mechanisms and other handling mechanisms. (1) In all directions, it allows the passive stabilization of the links by setting parameters of MGG. (2) MGG increases the payload than conventional passive gravity compensation mechanisms when the link position is under the equilibrium positions. (3) The equilibrium positions of serial links with MGG can be designed independently for each link. In conclusion, the novel device enabled to get high power and easy posture control by the effect of generated virtual gravity.
KW - Balancing
KW - Geometry calculation
KW - Material handling equipment
KW - Mechanism
UR - http://www.scopus.com/inward/record.url?scp=84859604899&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84859604899&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:84859604899
VL - 77
SP - 3672
EP - 3683
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 782
ER -