A novel gravity compensation mechanism for orthogonal DoFs with coupled springs

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-09-26 DOI:10.1016/j.mechmachtheory.2025.106220

Yiwei Wang , Peiji Chen , Shunta Togo , Hiroshi Yokoi , Yinlai Jiang

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Abstract

A novel gravity compensation mechanism for orthogonal DoFs (degrees of freedom) comprised of springs, wires, and pulleys is proposed and validated on a previously developed humanoid waist. The mechanism utilizes two groups of springs coupled with wires and pulleys to counterbalance gravitational potential energy in a coupling way. It provides high versatility for existing robotic systems and high freedom in design without being restricted by the location of the springs. Nine implementation methods are illustrated based on the location of the springs and the placement of the spring-side pulleys. The mechanism was validated on a fixed-base humanoid waist with adjustable springs for different load demands. A current consumption experiment was conducted to quantify the compensation rate based on motor current, showing a static compensation rate of

\geq

90% at maximum tilt angles. A path repetition experiment showed that the Euclidean distance between reference and measured paths was reduced by 57.8% with gravity compensation. These results indicate that the mechanism effectively reduces actuator burden and improves robot performance.

Abstract Image

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一种新型耦合弹簧正交自由度重力补偿机构

提出了一种由弹簧、钢丝和滑轮组成的正交自由度重力补偿机构，并在先前研制的仿人腰部上进行了验证。该机构利用两组弹簧与钢丝和滑轮耦合，以耦合方式平衡重力势能。它为现有的机器人系统提供了高通用性和高自由度的设计，而不受弹簧位置的限制。根据弹簧的位置和弹簧侧滑轮的位置说明了九种实现方法。针对不同的负载需求，在具有可调节弹簧的固定基座人形腰部上对该机构进行了验证。通过电流消耗实验量化了基于电机电流的补偿率，在最大倾角下静态补偿率≥90%。路径重复实验表明，采用重力补偿后，参考路径与实测路径之间的欧氏距离减小了57.8%。结果表明，该机构有效地减轻了执行机构的负担，提高了机器人的性能。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry