This book presents new research results in the field of gravity compensation in robotic systems. It explores topics such as gravity compensation of planar articulated robotic manipulators; the stiffness modeling of manipulators with gravity compensators; the multi-degree-of-freedom counter-balancing; the design of actuators with partial gravity compensation; a cable-driven robotic suit with gravity compensation for load carriage; various compensation systems for medical cobots and assistive devices; gravity balancing of parallel robots.
The volume demonstrates that gravity compensation methods continue to develop, and new approaches and solutions are constantly being reported. These solutions apply both to new structural solutions and to their new applications. Cobots, exoskeletons and robotic suits, assistive devices, as well as biomechanical systems are among the most promising applications and most pressing areas for further innovation.
Author(s): Vigen Arakelian
Series: Mechanisms and Machine Science, 115
Publisher: Springer
Year: 2022
Language: English
Pages: 275
City: Cham
Preface
Contents
A Modularization Approach for Gravity Compensation of Planar Articulated Robotic Manipulators
1 Introduction
2 The Basic Concept of Gravity Compensation Design
3 Gear-Spring Module (GSM) Concept
3.1 Kinematic Structure
3.2 Parameter Determination
3.3 A Numerical Example
4 Gravity Compensation of Robotic Manipulators
4.1 Design Approach
4.2 Evaluation Criteria
4.3 Illustrative Examples
5 Discussion
6 Conclusion
References
Stiffness Modeling for Gravity Compensators
1 Introduction
2 Stiffness Modelling for Manipulators with Gravity Compensation
2.1 Mechanical Gravity Compensators
2.2 Static and Kinematic Approaches for Gravity Compensation
2.3 Algorithmic Approaches for Gravity Compensation
3 Identification of Stiffness Model Parameters for Manipulators with Gravity Compensators
3.1 Spring-Bases Mechanical Gravity Compensator
3.2 Pneumatic Mechanical Gravity Compensator
3.3 Identification of Stiffness Model Parameters Using Double Encoders
4 Conclusions
References
Multi-DOF Counterbalancing and Applications to Robots
1 Introduction
2 Counterbalance Mechanisms
2.1 Tension Spring-Type Counterbalance Mechanisms
2.2 Wire-Type Counterbalance Mechanism
2.3 Link-Type Counterbalance Mechanisms
2.4 Gear-Type Counterbalance Mechanism
2.5 Comparison of Various Types of CBMs
3 Multi-DOF Counterbalancing
3.1 Principle of CBMs for Continuous Pitch Joints
3.2 Parallelogram Structure for Continuous Pitch Joints
4 Counterbalance Robot Arms
4.1 6-DOF Robot Arm with a Single CBM
4.2 6-DOF Robot Arm with Dual CBMs
5 Conclusion
References
Series Parallel Elastic Actuator: Variable Recruitment of Parallel Springs for Partial Gravity Compensation
1 Introduction
2 Concept
2.1 Intermittent Series-Parallel Elastic Actuator
2.2 Plus Series-Parallel Elastic Actuator
3 iSPEA Working Principle
3.1 Case Study: iSPEA Driven Warehouse Robots
4 +SPEA Working Principle
4.1 Case Study: +SPEA Driven Warehouse Robots
5 Discussion
6 Conclusion
References
Design, Optimization and Control of a Cable-Driven Robotic Suit for Load Carriage
1 Introduction
2 Design Concept
2.1 Development of the Robotic Suit’s Rigid Frame
2.2 Coupling of Cables with the Rigid Frame
2.3 Robotic Suit Operation
3 Modelling of the Coupled System
3.1 Kinematic Modelling
3.2 Dynamic Modelling
4 Optimization and Work Space Analysis
4.1 Static Simulations and Optimization
4.2 Workspace Analysis
5 Controller Design and Dynamic Simulation
6 Experimental Validation
7 Conclusion
Appendix
References
Tool Compensation for a Medical Cobot-Assistant
1 Introduction
2 Estimation of the Inertial Parameters
2.1 Identification Modeling
3 Study Cases
3.1 Fist Case—Hand Gripper
3.2 Second Case—Doppler Sonography
3.3 Third Case—Laparoscope-Holder System
4 Conclusion
References
Design of Statically Balanced Assistive Devices
1 Introduction
2 Static Balancing of Systems
3 Considering the Links Deformation During the System Static Balancing
3.1 Bending Calculation of the 1-DOF System’s Swinging Link
3.2 Torsion Calculation of the 1-DOF System’s Swinging Link
3.3 Torsion Reducing by Constructive Changes
4 Arrangement of Balancing Springs
5 The Counterweight Correction of the Rotating Link’s Spring Unbalance
6 Static Balancing of Systems with 2-DOF
6.1 The Static Spring Balancing of the Leg Biomechanical System with 2-DOF
7 Static Balancing of Arm Biomechanical Systems
7.1 The Static Spring Balancing of the Arm Biomechanical System with 1-DOF
7.2 The Static Spring Balancing of the Arm Biomechanical System with 2-DOF
8 Conclusions
References
Design of Multifunctional Assistive Devices with Various Arrangements of Gravity Compensation
1 Introduction
2 Design of Multifunctional Assistive Devices
2.1 Design of the Exoskeleton—Assistant for Human Sit-to-Stand
2.2 Design Concepts of Quasi-Static Balanced Multipurpose Exoskeletons
2.3 Design of Portable Assistive Multifunctional Devices
2.4 Design of the Portable Assistive Reconfigurable Device
3 Conclusions
References
Gravity Balancing of Parallel Robots by Constant-Force Generators
1 Introduction
2 Gravity Balancing: General Observations
2.1 Definitions and Balancing Approaches
2.2 Force and Moment Balancing
2.3 Gravity Balancing: Goals, Advantages, Limitations
3 Constant-Force Generators
3.1 1-DoF CFG
3.2 2-DoF CFGs
3.3 3-DoF CFGs
3.4 Other CFG Mechanisms
3.5 Design Observations
4 Statically-Balanced PKMs by Way of CFGs
4.1 Motion of a Rigid Body in Space
4.2 Gravity-Balanced PKMs
5 Applications of Gravity-Balanced PKMs
5.1 Mass Balancing
5.2 Elastic Balancing
6 Conclusions
References
