Static balancer for the neck of a face robot

Changhyun Cho, Seung-Jong Kim

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

We propose a 3-degree of freedom gravity compensator for the neck of a robotic face. The neck of the face robot is configured with yaw-pitch-pitch-roll rotations. Since the yaw rotation is made parallel to gravity, only the pitch-pitch-roll rotations are considered for gravity compensation. The 1-degree of freedom gravity compensator is located at the first pitch joint. A 2-degree of freedom gravity compensator equivalent to the existing gravity compensator is proposed and applied to the second pitch and roll rotations. A parallelogram is adopted between the first and second pitch rotations. One end of the 2-degree of freedom gravity compensator is attached at the parallelogram and the other is fixed at the face. Wires are used to realize a zero-length spring for all gravity compensators and all springs are located at the base for compact design. Experimental results for gravity compensation show that gravitational torques were effectively counterbalanced by the proposed 3-degree of freedom gravity compensator.

Original languageEnglish
Pages (from-to)561-568
Number of pages8
JournalProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Volume228
Issue number3
DOIs
Publication statusPublished - 2014 Feb 1
Externally publishedYes

Fingerprint

Gravitation
Robots
Degrees of freedom (mechanics)
Robotics
Torque
Wire

Keywords

  • face robot
  • gravity compensation
  • spring
  • Static balancing

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Static balancer for the neck of a face robot. / Cho, Changhyun; Kim, Seung-Jong.

In: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Vol. 228, No. 3, 01.02.2014, p. 561-568.

Research output: Contribution to journalArticle

@article{2526b0f413224139bd6542808546dcbd,
title = "Static balancer for the neck of a face robot",
abstract = "We propose a 3-degree of freedom gravity compensator for the neck of a robotic face. The neck of the face robot is configured with yaw-pitch-pitch-roll rotations. Since the yaw rotation is made parallel to gravity, only the pitch-pitch-roll rotations are considered for gravity compensation. The 1-degree of freedom gravity compensator is located at the first pitch joint. A 2-degree of freedom gravity compensator equivalent to the existing gravity compensator is proposed and applied to the second pitch and roll rotations. A parallelogram is adopted between the first and second pitch rotations. One end of the 2-degree of freedom gravity compensator is attached at the parallelogram and the other is fixed at the face. Wires are used to realize a zero-length spring for all gravity compensators and all springs are located at the base for compact design. Experimental results for gravity compensation show that gravitational torques were effectively counterbalanced by the proposed 3-degree of freedom gravity compensator.",
keywords = "face robot, gravity compensation, spring, Static balancing",
author = "Changhyun Cho and Seung-Jong Kim",
year = "2014",
month = "2",
day = "1",
doi = "10.1177/0954406213488496",
language = "English",
volume = "228",
pages = "561--568",
journal = "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science",
issn = "0954-4062",
publisher = "SAGE Publications Ltd",
number = "3",

}

TY - JOUR

T1 - Static balancer for the neck of a face robot

AU - Cho, Changhyun

AU - Kim, Seung-Jong

PY - 2014/2/1

Y1 - 2014/2/1

N2 - We propose a 3-degree of freedom gravity compensator for the neck of a robotic face. The neck of the face robot is configured with yaw-pitch-pitch-roll rotations. Since the yaw rotation is made parallel to gravity, only the pitch-pitch-roll rotations are considered for gravity compensation. The 1-degree of freedom gravity compensator is located at the first pitch joint. A 2-degree of freedom gravity compensator equivalent to the existing gravity compensator is proposed and applied to the second pitch and roll rotations. A parallelogram is adopted between the first and second pitch rotations. One end of the 2-degree of freedom gravity compensator is attached at the parallelogram and the other is fixed at the face. Wires are used to realize a zero-length spring for all gravity compensators and all springs are located at the base for compact design. Experimental results for gravity compensation show that gravitational torques were effectively counterbalanced by the proposed 3-degree of freedom gravity compensator.

AB - We propose a 3-degree of freedom gravity compensator for the neck of a robotic face. The neck of the face robot is configured with yaw-pitch-pitch-roll rotations. Since the yaw rotation is made parallel to gravity, only the pitch-pitch-roll rotations are considered for gravity compensation. The 1-degree of freedom gravity compensator is located at the first pitch joint. A 2-degree of freedom gravity compensator equivalent to the existing gravity compensator is proposed and applied to the second pitch and roll rotations. A parallelogram is adopted between the first and second pitch rotations. One end of the 2-degree of freedom gravity compensator is attached at the parallelogram and the other is fixed at the face. Wires are used to realize a zero-length spring for all gravity compensators and all springs are located at the base for compact design. Experimental results for gravity compensation show that gravitational torques were effectively counterbalanced by the proposed 3-degree of freedom gravity compensator.

KW - face robot

KW - gravity compensation

KW - spring

KW - Static balancing

UR - http://www.scopus.com/inward/record.url?scp=84893701309&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84893701309&partnerID=8YFLogxK

U2 - 10.1177/0954406213488496

DO - 10.1177/0954406213488496

M3 - Article

AN - SCOPUS:84893701309

VL - 228

SP - 561

EP - 568

JO - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

SN - 0954-4062

IS - 3

ER -