A novel mechanism design for gravity compensation in three dimensional space

T. Morita, F. Kuribara, Y. Shiozawa, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    67 Citations (Scopus)

    Abstract

    In this paper, we propose a passive gravity compensation mechanism named "mechanical gravity canceller". The effectiveness of the MGC mechanism is evaluated by analyzing several articulated robot manipulators from the aspects of kinematics and dynamics.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages163-168
    Number of pages6
    Volume1
    ISBN (Print)0780377591
    DOIs
    Publication statusPublished - 2003
    Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
    Duration: 2003 Jul 202003 Jul 24

    Other

    Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
    CountryJapan
    CityKobe
    Period03/7/2003/7/24

    Fingerprint

    Gravitation
    Manipulators
    Kinematics
    Robots
    Compensation and Redress

    Keywords

    • Acceleration
    • Actuators
    • Counting circuits
    • Gravity
    • Manipulator dynamics
    • Mechatronics
    • Payloads
    • Robots
    • Springs
    • Torque

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Morita, T., Kuribara, F., Shiozawa, Y., & Sugano, S. (2003). A novel mechanism design for gravity compensation in three dimensional space. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 1, pp. 163-168). [1225089] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225089

    A novel mechanism design for gravity compensation in three dimensional space. / Morita, T.; Kuribara, F.; Shiozawa, Y.; Sugano, Shigeki.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. p. 163-168 1225089.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Morita, T, Kuribara, F, Shiozawa, Y & Sugano, S 2003, A novel mechanism design for gravity compensation in three dimensional space. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 1, 1225089, Institute of Electrical and Electronics Engineers Inc., pp. 163-168, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225089
    Morita T, Kuribara F, Shiozawa Y, Sugano S. A novel mechanism design for gravity compensation in three dimensional space. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1. Institute of Electrical and Electronics Engineers Inc. 2003. p. 163-168. 1225089 https://doi.org/10.1109/AIM.2003.1225089
    Morita, T. ; Kuribara, F. ; Shiozawa, Y. ; Sugano, Shigeki. / A novel mechanism design for gravity compensation in three dimensional space. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. pp. 163-168
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