A fundamental kinematic analysis of virtual gravity controller for serial link mechanism

Yasuyuki Yamada; Toshio Morita

A fundamental kinematic analysis of virtual gravity controller for serial link mechanism

Research output: Contribution to journal › Article

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 Dec 1
Externally published	Yes

Keywords

Balancing
Geometry calculation
Material handling equipment
Mechanism

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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Yamada, Y., & Morita, T. (2011). A fundamental kinematic analysis of virtual gravity controller for serial link mechanism. Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 77(782), 3672-3683.

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AU - Morita, Toshio

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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.

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