Natural motion for energy saving in robotic and mechatronic systems
Energy saving in robotic and mechatronic systems is becoming an evermore important topic
in both industry and academia. One strategy to reduce the energy consumption, especially …
in both industry and academia. One strategy to reduce the energy consumption, especially …
Gravity compensation design of planar articulated robotic arms using the gear-spring modules
This paper presents a design concept for gravity compensation of planar articulated robotic
arms using a series of gear-slider mechanisms with springs. The spring-attached gear-slider …
arms using a series of gear-slider mechanisms with springs. The spring-attached gear-slider …
Differential noncircular pulleys for cable robots and static balancing
D Fedorov, L Birglen - Journal of Mechanisms and …, 2018 - asmedigitalcollection.asme.org
In this paper, we introduce a mechanism consisting of a pair of noncircular pulleys with a
constant-length cable. While a single noncircular pulley is generally limited to continuously …
constant-length cable. While a single noncircular pulley is generally limited to continuously …
Cable-based robotic crane (CBRC): Design and implementation of overhead traveling cranes based on variable radius drums
In this paper, we present a new family of overhead traveling cranes based on variable radius
drums (VRDs), called cable-based robotic cranes (CBRCs). A VRD is characterized by the …
drums (VRDs), called cable-based robotic cranes (CBRCs). A VRD is characterized by the …
Knee energy harvester with variable transmission to reduce the effect on the walking gait
Harvesting energy from human motions is a promising solution to the power issue for
wearable electronics. Recently, various energy harvesters were developed to capture the …
wearable electronics. Recently, various energy harvesters were developed to capture the …
Passive and active gravity compensation of horizontally-mounted 3-RPS parallel kinematic machine
Taking a horizontally-mounted 3-RPS parallel kinematic machine (PKM) as an example, this
paper investigates passive and active gravity compensation strategies for improving PKM …
paper investigates passive and active gravity compensation strategies for improving PKM …
Design and fabrication of a passive upper limb rehabilitation robot with adjustable automatic balance based on variable mass of end-effector
M Eslami, A Mokhtarian, M Pirmoradian… - Journal of the Brazilian …, 2020 - Springer
The purpose of this work is to design and fabricate a balanced passive robotic arm with the
capability of applying variable mass to the end-effector in order to upper limb rehabilitation …
capability of applying variable mass to the end-effector in order to upper limb rehabilitation …
CVGC-II: A new version of a compact variable gravity compensator with a wider range of variable torque and energy-free variable mechanism
This article proposes a new version of a variable gravity compensation mechanism (CVGC-
II) for mobile manipulation robots, such as mobile manipulators and exoskeletons. CVGC-II …
II) for mobile manipulation robots, such as mobile manipulators and exoskeletons. CVGC-II …
Low-cost variable stiffness joint design using translational variable radius pulleys
Robot joints are expected to be safe, compliant, compact, simple and low-cost. Gravity
compensation, zero backlash, energy efficiency and stiffness adjustability are some desired …
compensation, zero backlash, energy efficiency and stiffness adjustability are some desired …
One-piece gravity compensation mechanism using cam mechanism and compression spring
In this paper, we propose a one-piece gravity compensation mechanism (OGCM), which
improves energy efficiency by compensating for the gravity torque of the target structure …
improves energy efficiency by compensating for the gravity torque of the target structure …