Abstract
Gravity balancing is used to reduce the actuator effort in robotic systems. However, it is well known that conventional linear springs, directly jointed with a rotating link cannot ensure a complete gravity balancing. To achieve a complete balancing of a rotating link the zero length spring should be applied. The zero length spring corresponds to a spring with special coils ensuring zero elastic force for zero length of the spring. Therefore, the use of traditional springs, i.e. non-zero length springs, leads to adding of auxiliary mechanisms. The aim of the present study is to propose an analytically tractable solution permitting to synthesize a planar four-bar linkage that will provide a more optimal generation of the balancing moment developed by a non-zero length spring. The efficiency of the suggested linkage design is illustrated via numerical simulations. It is shown that a quasi-perfect balancing has been achieved.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Arakelian, V.: Gravity compensation in robotics. Adv. Robot. 30(2), 79–96 (2016)
Arakelian, V., Briot, S.: Balancing of Linkages and Robot Manipulators. Advanced Methods with Illustrative Examples. Springer, Cham (2015)
Cui, M., Wang, S., Li, J.: Spring gravity compensation using the noncircular pulley and cable for the less-spring design. In: Proceedings of the 14th IFTOMM World Congress, Taipei, Taiwan, 25–30 October 2015
Ebert-Uphoff, I., Johnson, K.: Practical considerations for the static balancing of mechanisms of parallel architecture. J. Multi-body Dyn. Part K 216, 73–85 (2002)
Kobayashi, K.: New design method for spring balancers. ASME J. Mech. Des. 123, 494–500 (2001)
Laliberté, T., Gosselin, C., Gean, M.: Static balancing of 3-DOF planar parallel mechanisms. Trans. Mechatron. 4(4), 363–377 (1990)
Simionescu, I., Ciupitu, L.: The static balancing of the industrial arms. part I: discrete balancing. Mech. Mach. Theor. 35, 1287–1298 (2000)
Ciupitu, L., Simionescu, I.: Zero-free-length elastic systems for static balancing. In: New Advances in Mechanisms, Mechanical Transmissions and Robotics, pp. 59–67. Springer, Cham (2017)
Fattah, A., Agrawal, S.: Gravity-balancing of classes of industrial robots. In: Proceedings of the International Conference on Robotics and Automation, Orlando, Florida, pp. 2872–2877 (2006)
Arakelian, V., Ghazaryan, S.: Improvement of balancing accuracy of robotic systems: application to leg orthosis for rehabilitation devices. Mech. Mach. Theor. 43(5), 565–575 (2008)
Rijff, B., Herder, J., Radaelli, G.: An energy approach to the design of single degree of freedom gravity balancers with compliant joints. In: ASME 2011 IDETC/CIE Conference, Washington, DC, USA, 28–31 August (2011)
Shieh, W., Chou, B.: A novel spring balancing device on the basis of a Scotch Yoke mechanism. In: Proceedings of the 14th IFTOMM World Congress, Taipei, Taiwan, 25–30 October 2015
Kim, H., Song, J.: Low-cost robot arm with 3-DOF counterbalance mechanism. In: Proceedings of the International Conference on Robotics and Automation, Karisruhe, Germany, pp. 4168–4173, 6–10 May 2013
Cho, C., Lee, W., Kang, S.: Design of a static balancing mechanism with unit gravity compensators. In: Proceedings IEEE/ASME International Conference on Advanced Intelligent Mechatronics, San Francisco, USA, pp. 1857–1862 (2011)
Cho, C., Lee, W., Lee, J., Kang, S.: A 2-Dof gravity compensator with bevel gears. J. Mech. Sci. Technol. 26(9), 2913–2919 (2012)
Arakelian, V.: Structure et cinématique des mécanismes, Hermes (1997)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
Zhang, Y., Arakelian, V., Le Baron, JP. (2019). Linkage Design for Gravity Balancing by Means of Non-zero Length Springs. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_22
Download citation
DOI: https://doi.org/10.1007/978-3-319-78963-7_22
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-78962-0
Online ISBN: 978-3-319-78963-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)