Advertisement

Conceptual Design of a Two-Stage Variable Gravity Compensated Mechanism

  • Win-Bin ShiehEmail author
  • Ching-Kong Chen
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

Conceptual design of a two-stage, gravity-balanced, single articulated system carrying variable payload is presented. Aim of the work is to develop a general energy-free methodology to achieve the equilibrium of the system as the payload mass is changed. Two stages are required in this self-adaptive method: In the constant-mass stage, the system performs as a normal gravity compensated mechanism (GCM) where equilibrium of the system can be achieved at all configurations; while in the variable-mass stage, position of the ground pivot is set free such that the pivot would be automatically moved to a new position as a result of the force balance due to the addition/removal of the mass. Right after the self-adaptive relocation of the pivot, position of the pivot is locked and then a perfect, gravity-balancing system with the new mass prop-erty is regained.

Keywords

Gravity balancer Variable gravity compensated mechanism VGCM zero spring 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    D. Streit, E. Shin, Equilibrators for planar linkages, J. Mech. Des. 115 (1993) 604–611.CrossRefGoogle Scholar
  2. 2.
    S.K. Agrawal, A. Fattah, Theory and design of an orthotic device for full or partial gravity-balancing of a human leg during motion, Neural Syst. Rehabil. Eng. IEEE Trans. 12 (2004) 157–165.CrossRefGoogle Scholar
  3. 3.
    Wei-Hsuan Chiang, Dar-Zen Chen, Design of planar variable-payload balanced articulated manipulators with actuated linear ground-adjacent adjustment, Mech. Mach. Theory 109 (2017) 296–312.CrossRefGoogle Scholar
  4. 4.
    W.D. Van Dorsser, R. Barents, B.M. Wisse, J.L. Herder, Gravity-balanced arm support with energy-free adjustment, J. Med. Dev. 1 (2007) 151–158.Google Scholar
  5. 5.
    Naoyuki Takesue, Yosuke Komoda, Hideyuki Murayama, Kousyun Fujiwara and Hideo Fujimoto, Scissor lift with real-time self-adjustment ability based on variable gravity compensation mechanism, Advanced Robotics 30:15 (2016) 1014-1026.Google Scholar
  6. 6.
    S. Briot and V. Arakelian, A New Energy-free Gravity-compensation Adaptive System for Balancing of 4-DOF Robot Manipulators with Variable Payloads, in Proceedings of the 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015.Google Scholar
  7. 7.
    Thanh Danh Le, Kyoung Kwan Ahn, A vibration isolation system in low frequency excitation region using negative stiffness structure for vehicle seat, Journal of Sound and Vibration 330 (2011) 6311–6335.CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Ming Chi University of TechnologyNew TaipeiTaiwan
  2. 2.National Taipei University of TechnologyTaipeiTaiwan

Personalised recommendations