Abstract
This paper introduces the design and control of the suspended gravity compensation system’s upright controllable force subsystem. The upright subsystem consists of the transmission compensation module, the buffer module, and the control part. The transmission compensation module includes the transmission components. The buffer module includes the compression spring and its fittings. The control part contains servo motor, tension sensor, and relative displacement sensor. The subsystem can follow the object upright motion actively and provide constant force to compensate the gravity of the object.
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Acknowledgments
This work was supported by the National Basic Research Program of China (973 Program: 2012CB821200, 2012CB821201), the NSFC (61134005, 61327807, 61521091, 61520106010), and the Fundamental Research Funds for the Central Universities (YWF-16-GJSYS-31,YWF-16-GJSYS-32).
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© 2016 Springer Science+Business Media Singapore
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Jia, J., Jia, Y., Sun, S. (2016). Design and Control of the Upright Controllable Force Sub-system for the Suspended Gravity Compensation System. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 405. Springer, Singapore. https://doi.org/10.1007/978-981-10-2335-4_4
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DOI: https://doi.org/10.1007/978-981-10-2335-4_4
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