NDLI: Gravity-balancing of classes of industrial robots

Content Provider	IEEE Xplore Digital Library
Author	Fattah, A. Agrawal, S.K.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. Eng., Delaware Univ., Newark, DE (Fattah, A.; Agrawal, S.K.)
Abstract	Gravity balancing of industrial robots is an important issue because these robots may have massive links in order to manipulate large payloads. In this paper, we present techniques to gravity balance the weight of moving links in industrial robots with various arrangements of joints. In a typical industrial robot, the first joint axis is parallel to the gravity vector, hence, the weight of the first moving link does not have any effect on gravity balancing of the robot. Our approach for gravity balancing of industrial robots uses two steps: (i) we locate the center of mass of distal segments of the robot using auxiliary parallelograms; (ii) we connect springs between the center of mass and other members in the robot such that the total potential energy of the system is invariant with configuration. In this paper, we present designs for gravity balancing of classes of industrial robots with revolute and prismatic joints
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	2872
Ending Page	2877
File Size	610818
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642137
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Service robots Gravity Springs Parallel robots Potential energy Actuators Couplings Mechanical systems Laboratories Mechanical engineering
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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