Computational design of balanced open link planar mechanisms with counterweights from user sketches

Takuto Takahashi, Hiroshi G. Okuno, Shigeki Sugano, Stelian Coros, Bernhard Thomaszewski

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

Abstract

We consider the design of under-actuated articulated mechanism that are able to maintain stable static balance. Our method augments an user-provided design with counter-weights whose mass and attachment locations are automatically computed. The optimized counterweights adjust the center of gravity such that, for bounded external perturbations, the mechanism returns to its original configuration.Using our sketch-based system, we present several examples illustrating a wide range of user-provided designs can be successfully converted into statically-balanced mechanisms. We further validate our results with a set of physical prototypes.

Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6466-6471
Number of pages6
ISBN (Electronic)9781728162126
DOIs
Publication statusPublished - 2020 Oct 24
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: 2020 Oct 242021 Jan 24

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
CountryUnited States
CityLas Vegas
Period20/10/2421/1/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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