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

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ6466-6471
ページ数6
ISBN(電子版)9781728162126
DOI
出版ステータスPublished - 2020 10 24
イベント2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
継続期間: 2020 10 242021 1 24

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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