Design of static balancing mechanism for face robot

Seung-Jong Kim, Changhyun Cho

Research output: Contribution to journalArticle

Abstract

This paper proposes a static balancing mechanism for a face robot that uses the space mapping method. The joints of the face robot are configured using yaw-pitch-pitch-roll rotations. A design method based on the space mapping is adopted and extended to a multiple-degree-of-freedom (multi-dof) unit gravity compensator space. The joint space and gravity compensator space are determined, and the mapping between the two spaces is obtained using analyses of the potential energy in the spaces to determine the number of unit gravity compensators and their locations. The design is conducted using the multi-dof gravity compensator space and suggests that two unit gravity compensators are necessary, with parallel constraints. Dynamic simulations are conducted; the results show that the proposed gravity compensators effectively counterbalance the gravitational force, and the total potential energy is invariant for all poses.

Original languageEnglish
Pages (from-to)194-200
Number of pages7
JournalInternational Journal of Control, Automation and Systems
Volume13
Issue number1
DOIs
Publication statusPublished - 2014 Jan 1
Externally publishedYes

Fingerprint

Gravitation
Robots
Potential energy
Computer simulation

Keywords

  • Design
  • gravity compensator
  • space mapping
  • spring
  • static balancer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Design of static balancing mechanism for face robot. / Kim, Seung-Jong; Cho, Changhyun.

In: International Journal of Control, Automation and Systems, Vol. 13, No. 1, 01.01.2014, p. 194-200.

Research output: Contribution to journalArticle

@article{7612dc76226a4785b9ea92ae9862b718,
title = "Design of static balancing mechanism for face robot",
abstract = "This paper proposes a static balancing mechanism for a face robot that uses the space mapping method. The joints of the face robot are configured using yaw-pitch-pitch-roll rotations. A design method based on the space mapping is adopted and extended to a multiple-degree-of-freedom (multi-dof) unit gravity compensator space. The joint space and gravity compensator space are determined, and the mapping between the two spaces is obtained using analyses of the potential energy in the spaces to determine the number of unit gravity compensators and their locations. The design is conducted using the multi-dof gravity compensator space and suggests that two unit gravity compensators are necessary, with parallel constraints. Dynamic simulations are conducted; the results show that the proposed gravity compensators effectively counterbalance the gravitational force, and the total potential energy is invariant for all poses.",
keywords = "Design, gravity compensator, space mapping, spring, static balancer",
author = "Seung-Jong Kim and Changhyun Cho",
year = "2014",
month = "1",
day = "1",
doi = "10.1007/s12555-013-0346-8",
language = "English",
volume = "13",
pages = "194--200",
journal = "International Journal of Control, Automation and Systems",
issn = "1598-6446",
publisher = "Institute of Control, Robotics and Systems",
number = "1",

}

TY - JOUR

T1 - Design of static balancing mechanism for face robot

AU - Kim, Seung-Jong

AU - Cho, Changhyun

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This paper proposes a static balancing mechanism for a face robot that uses the space mapping method. The joints of the face robot are configured using yaw-pitch-pitch-roll rotations. A design method based on the space mapping is adopted and extended to a multiple-degree-of-freedom (multi-dof) unit gravity compensator space. The joint space and gravity compensator space are determined, and the mapping between the two spaces is obtained using analyses of the potential energy in the spaces to determine the number of unit gravity compensators and their locations. The design is conducted using the multi-dof gravity compensator space and suggests that two unit gravity compensators are necessary, with parallel constraints. Dynamic simulations are conducted; the results show that the proposed gravity compensators effectively counterbalance the gravitational force, and the total potential energy is invariant for all poses.

AB - This paper proposes a static balancing mechanism for a face robot that uses the space mapping method. The joints of the face robot are configured using yaw-pitch-pitch-roll rotations. A design method based on the space mapping is adopted and extended to a multiple-degree-of-freedom (multi-dof) unit gravity compensator space. The joint space and gravity compensator space are determined, and the mapping between the two spaces is obtained using analyses of the potential energy in the spaces to determine the number of unit gravity compensators and their locations. The design is conducted using the multi-dof gravity compensator space and suggests that two unit gravity compensators are necessary, with parallel constraints. Dynamic simulations are conducted; the results show that the proposed gravity compensators effectively counterbalance the gravitational force, and the total potential energy is invariant for all poses.

KW - Design

KW - gravity compensator

KW - space mapping

KW - spring

KW - static balancer

UR - http://www.scopus.com/inward/record.url?scp=84925484949&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84925484949&partnerID=8YFLogxK

U2 - 10.1007/s12555-013-0346-8

DO - 10.1007/s12555-013-0346-8

M3 - Article

VL - 13

SP - 194

EP - 200

JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

SN - 1598-6446

IS - 1

ER -