![]() In order to classify the considered balancing schemes three principal groups are distinguished due to the nature of the compensation force: counterweight, spring or active force developed by an auxiliary actuator. The examined properties of the gravity compensation are disclosed and illustrated via kinematic schemes. This paper proposes an overview of gravity compensation methods applied in robotics. Various design concepts for gravity compensation are available in the literature. Therefore, it is desirable and commonly implemented in many situations. Gravity compensation is a well-known technique in robot design to achieve equilibrium throughout the range of motion and as a result to reduce the loads on the actuator. The actuator power required to resist joint torque caused by the weight of robot links can be a significant problem. ![]()
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