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TECHNICAL PAPERS

Design and Fabrication of an Active Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms

[+] Author and Article Information
Sunil K. Agrawal, Glenn Gardner, Stephen Pledgie

Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716

J. Mech. Des 123(4), 525-528 (Nov 01, 1999) (4 pages) doi:10.1115/1.1413771 History: Received November 01, 1999
Copyright © 2001 by ASME
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References

Ulrich, N., and Kumar, V., 1991, “Passive Mechanical Gravity Compensation for Robot Manipulators,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1536–1541.
Streit,  D. A., and Shin,  E., 1993, “Equilibrators for Planar Linkages,” ASME J. Mech. Des., 115, No. 3, pp. 604–610.
Walsh,  G. J., Streit,  D. A., and Gilmore,  B. J., 1991, “Spatial Spring Equilibrator Theory,” Mech. Mach. Theory, 26, No. 2, pp. 155–170.
Herder, J. L., and Tuijthof, G. J. M., 2000, “Two Spatial Gravity Equilibrators,” In Proceedings, ASME Design Engineering Technical Conferences, MECH-14120.
Laliberte,  T., and Gosselin,  C., 1999, “Static Balancing of 3 DOF Planar Parallel Mechanisms,” IEEE/ASME Transactions on Mechatronics, 4, No. 4, pp. 363–377.
Wang,  J., and Gosselin,  C., 1999, “Static Balancing of Spatial Three Degrees-of-Freedom Parallel Mechanisms,” Mech. Mach. Theory, 35, pp. 437–452.
Lowen,  G., Tepper,  F. R., and Berkof,  R. S., 1983, “Balancing of Linkages—An Update,” Mech. Mach. Theory, 18, No 3, pp. 213–220.
Fischer, O., 1906, Theoretische Grundlagen fur eine Mechanik der Lebenden Korper, Leipzig.
Auerbach, F., and Hort, W., 1928, Handbuch der Physikalischen und Technischen Mekanik, J. A. Barth, Leipzig, pp. 380–381 (reference to Fischer’s work).
Gokce,  A., and Agrawal,  S. K., 1999, “Mass Center of Planar Mechanisms Using Auxiliary Parallelograms,” ASME J. Mech. Des., 121, No. 1, pp. 166–168.
Gokce, A. 1998, “Center of Mass of Linkages Using Auxiliary Parallelograms,” MS Thesis, Dept. of Mechanical Engineering, University of Delaware.

Figures

Grahic Jump Location
The construction of the auxiliary parallelograms for a series chain with three links
Grahic Jump Location
The graph corresponding to the augmented system for a series chain with three links
Grahic Jump Location
The graph corresponding to the augmented system for a series chain with n links
Grahic Jump Location
A camera image of gravity balanced 3-link series chain augmented with parallelograms
Grahic Jump Location
Desired and controller achieved center of mass location (solid: desired, dot: controller achieved) for the three encoder angles during a continuous motion

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