A novel mechanism design for gravity compensation in three dimensional space

Toshio Morita, F. Kuribara, Y. Shiozawa, S. Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

69 Citations (Scopus)

Abstract

In this paper, we propose a passive gravity compensation mechanism named "mechanical gravity canceller". The effectiveness of the MGC mechanism is evaluated by analyzing several articulated robot manipulators from the aspects of kinematics and dynamics.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages163-168
Number of pages6
Volume1
ISBN (Print)0780377591
DOIs
Publication statusPublished - 2003
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
CountryJapan
CityKobe
Period03/7/2003/7/24

Fingerprint

Gravitation
Manipulators
Kinematics
Robots
Compensation and Redress

Keywords

  • Acceleration
  • Actuators
  • Counting circuits
  • Gravity
  • Manipulator dynamics
  • Mechatronics
  • Payloads
  • Robots
  • Springs
  • Torque

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Morita, T., Kuribara, F., Shiozawa, Y., & Sugano, S. (2003). A novel mechanism design for gravity compensation in three dimensional space. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 1, pp. 163-168). [1225089] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225089

A novel mechanism design for gravity compensation in three dimensional space. / Morita, Toshio; Kuribara, F.; Shiozawa, Y.; Sugano, S.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. p. 163-168 1225089.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Morita, T, Kuribara, F, Shiozawa, Y & Sugano, S 2003, A novel mechanism design for gravity compensation in three dimensional space. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 1, 1225089, Institute of Electrical and Electronics Engineers Inc., pp. 163-168, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225089
Morita T, Kuribara F, Shiozawa Y, Sugano S. A novel mechanism design for gravity compensation in three dimensional space. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1. Institute of Electrical and Electronics Engineers Inc. 2003. p. 163-168. 1225089 https://doi.org/10.1109/AIM.2003.1225089
Morita, Toshio ; Kuribara, F. ; Shiozawa, Y. ; Sugano, S. / A novel mechanism design for gravity compensation in three dimensional space. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. pp. 163-168
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