A novel mechanism design for gravity compensation in three dimensional space

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

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

73 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 publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages163-168
Number of pages6
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume1

Other

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

Keywords

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

ASJC Scopus subject areas

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

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  • Cite this

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