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

Yasuyuki Yamada, Toshio Morita

研究成果: Article査読

抄録

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.

本文言語English
ページ(範囲)3672-3683
ページ数12
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
77
782
DOI
出版ステータスPublished - 2011
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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