Mechanical gravity canceller with oscillating block slider crank mechanism

Yasuyuki Yamada, Toshio Morita

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

In this paper, we propose a passive gravity compensation mechanism with a slider crank mechanism and a compression spring, which named "Compression Type Mechanical Gravity Canceller (CT-MGC) ". The CT-MGC has several advantages in comparison with the original MGC. First, the new mechanism generates accurate weight compensation torque as same as the MGC without wire and pulley, because it consists of rod-driven mechanism. Second, the new mechanism can be installed into heavy manipulators or carry heavy loads while ensuring high rigidity and safety, since there is no risk for amputation of wire. From development and experiments of a single link model equipped with the CT-MGC, it is clarified that this revolutionary device succeeds to shift basic concepts of weight compensation mechanism from "raise tension" to "push up".

Original languageEnglish
Pages (from-to)1797-1803
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume76
Issue number767
Publication statusPublished - 2010 Jul
Externally publishedYes

Fingerprint

Gravitation
Wire
Pulleys
Rigidity
Manipulators
Loads (forces)
Torque
Compensation and Redress
Experiments

Keywords

  • Compression spring
  • Mgc (mechanical gravity canceller)
  • Serial link manipulator
  • Slider crank 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 compensation mechanism with a slider crank mechanism and a compression spring, which named "Compression Type Mechanical Gravity Canceller (CT-MGC) ". The CT-MGC has several advantages in comparison with the original MGC. First, the new mechanism generates accurate weight compensation torque as same as the MGC without wire and pulley, because it consists of rod-driven mechanism. Second, the new mechanism can be installed into heavy manipulators or carry heavy loads while ensuring high rigidity and safety, since there is no risk for amputation of wire. From development and experiments of a single link model equipped with the CT-MGC, it is clarified that this revolutionary device succeeds to shift basic concepts of weight compensation mechanism from "raise tension" to "push up".

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