Art

J-GLOBAL ID：201002240108029599   Reference number：10A0653285

A Weight Compensation Mechanism with a Non-Circular Pulley and a Spring: Application to a Parallel Four-Bar Linkage Arm

非円形滑車とばねを有する重量補償機構 並列4棒リンク機構アームへの応用

Author (5)： ENDO Gen (Tokyo Inst. Technol., Tokyo, JPN) ,  YAMADA Hiroya (Tokyo Inst. Technol., Tokyo, JPN) ,  YAJIMA Akira (Canon Inc., Kanagawa, JPN) ,  OGATA Masaru (Canon Inc., Kanagawa, JPN) ,  HIROSE Shigeo (Tokyo Inst. Technol., Tokyo, JPN)
Material： SICE Journal of Control, Measurement, and System Integration  (SICE JCMSI)
Volume： 3  Issue： 2  Page： 130-136  Publication year： Mar. 31, 2010 
JST Material Number： L7831A  ISSN： 1882-4889  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *robot arm ,  linkage (machine element) ,  pulley block ,  spring (machine element) ,  weight reduction ,  Torque ,  actuator ,  Jacobian matrix ,  equilibrium ,  pendulum ,  assembly robot ,  system design ,  parallel link mechanism ,  modification

JST classification (1)： Design,manufacturing,and components of robots  (IC04013A)

Reference (14)：

• S. Hirose and H. Kuwahara: Basic study on gravity compensated multi joint arm, Proc. 12th Annual Conf. of the Robotics Society of Japan, pp. 1109-1110, 1994 (in Japanese).
• T. Rahman, R. Ramanathan, R. Seliktar, and W. Harwin: A simple technique to passively gravity-balance articulated mechanism, ASME Transactions on Mechanisms Design, Vol.117, No.4, pp. 655-658, 1995.
• T. Morita, F. Kuribara, Y. Shiozawa, and S. Sugano: A novel mechanism design for gravity compensation in three dimensional space, Proc. Int. Conf. Advanced Intelligent Mechatronics (AIM03), pp. 163-168, 2003.
• Y. Tojo, P. Debenest, E. F. Fukushima, and S. Hirose: Robotic system for humanitarian demining development of weight-compensated pantograph manipulator, Proc. Int. Conf. Robotics and Automation, pp. 2025-2030, 2004.
• G. Endo and S. Hirose: A weight compensation mechanism with a non-circular pulley and a spring: Application to a parallel link manipulator, JSME Annual Conference on Robotics and Mechatronics, 1A1-G20, 2008 (in Japanese).

Terms in the title (5)： 非円形 ,  滑車 ,  ばね ,  補償 ,  応用