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

Yasuyuki Yamada, Toshio Morita

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)3672-3683
Number of pages12
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume77
Issue number782
Publication statusPublished - 2011
Externally publishedYes

Fingerprint

Gravitation
Kinematics
Controllers
Stabilization
Geometry

Keywords

  • Balancing
  • Geometry calculation
  • Material handling equipment
  • Mechanism

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

Cite this

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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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