Performance Evaluation of a Class of Gravity-Compensated Gear-Spring Planar Articulated Manipulators

Authors

Nguyen Vu Linh, National Taiwan University of Science and Technology
Chin-Hsing Kuo, University of WollongongFollow

RIS ID

139235

Publication Details

Vu Linh, N. & Kuo, C. (2020). Performance Evaluation of a Class of Gravity-Compensated Gear-Spring Planar Articulated Manipulators. In C. Kuo, P. Lin, T. Essomba & G. Chen (Eds.), Robotics and Mechatronics: Proceedings of the 6th IFToMM International Symposium on Robotics and Mechatronics (ISRM 2019) (pp. 29-38). Springer International Publishing: Cham, Switzerland. 2019

Abstract

This paper is devoted to evaluating the gravity compensation performance of a special class of planar articulated manipulators that are gravity balanced by using a series of gear-spring modules. First, the studied manipulators with one, two, and three DOFs are revisited. Then, the gravity compensation performance of these manipulators is determined via a peak-to-peak torque reduction criterion. As the manipulators were designed via two different approaches, i.e., the ideal balancing approximation and the realistic optimization, the gravity compensation performance of these two approaches is compared. It shows that the perfect balancing approximation can achieve a satisfied performance as nearly same as that of the optimization approach, while it, on the other hand, enjoys a significant reduction of the computational effort for gravity compensation design.