MANIPULATION
A novel mechanism design for gravity compensation in three dimensional space
Takeshi Morita, F. Kuribara, Y. Shiozawa, Shigeki Sugano
- Year
- 2004
- Citations
- 100
Abstract
In this paper, we propose a passive gravity compensation mechanism named "mechanical gravity canceller". The effectiveness of the MGC mechanism is evaluated by analyzing several articulated robot manipulators from the aspects of kinematics and dynamics.
Keywords
Mechanism (biology)Compensation (psychology)KinematicsComputer scienceRobotControl theory (sociology)Mechanism designControl engineeringRobot kinematicsGravity force
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