A novel methodology for the design of a gravity-balanced serial-type spatial manipulator is presented. In the design, gravity effects of the system can be completely compensated at any configuration. The gravity balance of the -DOF manipulator is achieved by the suspensions of only zero-free-length springs, where each spring is individually fitted between a primary link and its adjacent auxiliary link. No spring has to be installed across the spatial manipulator from a far remote link to ground such that the motion interference among the springs and the links can be prevented. Besides, since the embedded auxiliary links along the primary links of the manipulator form a series of spatial parallelogram revolute-spherical-spherical-revolute modules, the active DOFs of the system remain the same as the primary manipulator and the range of motion of the manipulator will not be hindered. As a result, the -DOF manipulator can serve the general function of an articulated serial-type manipulator in kinematics. The simulated results of a 6DOF gravity-balanced manipulator modeled on ADAMS shows that the static equilibrium as well as the kinematics of the system can be successfully accomplished by this proposed methodology.
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e-mail: dzchen@ntu.edu.tw
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August 2010
Research Papers
Design of a Gravity-Balanced General Spatial Serial-Type Manipulator
Po-Yang Lin,
Po-Yang Lin
Graduate Student
Department of Mechanical Engineering,
National Taiwan University
, Taipei 10617, Taiwan
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Win-Bin Shieh,
Win-Bin Shieh
Assistant Professor
Department of Mechanical Engineering,
Mingchi University of Technology
, Taipei 24301, Taiwan
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Dar-Zen Chen
Dar-Zen Chen
Professor
Department of Mechanical Engineering,
e-mail: dzchen@ntu.edu.tw
National Taiwan University
, Taipei 10617, Taiwan
Search for other works by this author on:
Po-Yang Lin
Graduate Student
Department of Mechanical Engineering,
National Taiwan University
, Taipei 10617, Taiwan
Win-Bin Shieh
Assistant Professor
Department of Mechanical Engineering,
Mingchi University of Technology
, Taipei 24301, Taiwan
Dar-Zen Chen
Professor
Department of Mechanical Engineering,
National Taiwan University
, Taipei 10617, Taiwane-mail: dzchen@ntu.edu.tw
J. Mechanisms Robotics. Aug 2010, 2(3): 031003 (7 pages)
Published Online: June 21, 2010
Article history
Received:
January 5, 2010
Revised:
April 29, 2010
Online:
June 21, 2010
Published:
June 21, 2010
Citation
Lin, P., Shieh, W., and Chen, D. (June 21, 2010). "Design of a Gravity-Balanced General Spatial Serial-Type Manipulator." ASME. J. Mechanisms Robotics. August 2010; 2(3): 031003. https://doi.org/10.1115/1.4001816
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