著者

遠藤 玄 山田 浩也 矢島 明 尾形 勝 広瀬 茂男

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.28, no.1, pp.77-84, 2010 (Released:2012-01-25)

参考文献数

10

被引用文献数

9 8

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We propose a new weight compensation mechanism with a non-circular pulley and a spring. We show the basic principle and numerical design method to derive the shape of the non-circular pulley. After demonstration of the weight compensation for an inverted/ordinary pendulum system, we extend the same mechanism to a parallel four-bar linkage system, analyzing the required torques with transposed Jacobian matrices. Finally, we develop a 3 D.O.F manipulator with relatively small output actuators and verify that the weight compensation mechanism greatly contributes to decrease static torques to keep the same posture within manipulator's work space.