A symmetric cable-pulley based mechanism for gravity compensation of robotic manipulators: Static and dynamic analysis

IF 1.8 4区工程技术 Q3 ENGINEERING, MECHANICAL

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science Pub Date : 2022-02-14 DOI:10.1177/09544062211066007

Keyvan Arezoo, J. Arezoo, B. M. Fard

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引用次数: 2

Abstract

In this paper, a novel design for gravity compensation of manipulators has been introduced and its effect on the static and dynamic performance has been studied. The gravity compensation mechanism (GCM) of this study deploys a symmetrical configuration for the pulleys and cable to reduce the tension in the cable without requiring additional space for longer springs and their displacements. The reduction of cable tension significantly increases the durability of the proposed GCM, which tackles one of the most critical issues of the cable-pulley based gravity compensating systems. The configuration of the proposed GCM also distributes equal internal forces and moments over the joints of the manipulator. As a key part of the design, the dynamic performance of the manipulator is evaluated before and after it is equipped with the GCM. The dynamic manipulability ellipse is used to measure the variations in dynamic performance. Implementation on a real multi-degree-of-freedom (DOF) manipulator showed the effectiveness of the proposed GCM in gravity compensation and also its simplicity of extension and larger achievable workspace comparing to the previous works.

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基于对称索轮的机械臂重力补偿机构:静态与动态分析

本文介绍了一种新的机械手重力补偿设计，并研究了重力补偿对机械手静、动态性能的影响。本研究的重力补偿机制(GCM)为滑轮和电缆部署了对称配置，以减少电缆中的张力，而不需要额外的空间来放置更长的弹簧及其位移。缆索张力的降低显著提高了GCM的耐久性，解决了基于缆索滑轮的重力补偿系统最关键的问题之一。所提出的GCM构型在机械臂的关节上也分配了相等的内力和力矩。作为设计的关键部分，对机械手安装GCM前后的动态性能进行了评估。动态可操纵性椭圆用于测量动态性能的变化。在实际多自由度机械臂上的应用表明，该方法具有较好的重力补偿效果，且扩展简单，可实现的工作空间更大。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 工程技术-工程：机械

CiteScore

3.80

自引率

10.00%

发文量

625

审稿时长

4.3 months

期刊介绍： The Journal of Mechanical Engineering Science advances the understanding of both the fundamentals of engineering science and its application to the solution of challenges and problems in engineering.