Design of an antagonistically counter-balancing parallel mechanism
- Title
- Design of an antagonistically counter-balancing parallel mechanism
- Author
- 이병주
- Keywords
- Stiffness model; Translational DOF; Stiffness matrix; Parallel mechanisms; Mechanisms; Computer simulation; System stability; Closed chain mechanism; Open-loop stability; Intelligent robots
- Issue Date
- 2013-11
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- IEEE International Conference on Intelligent Robots and Systems, article no. 6696764, Page. 2882-2887
- Abstract
- Much attention has not been paid to analysis of the open-loop stability for gravity counter-balancing of parallel mechanisms or closed-chain mechanisms. The open-loop stability is crucial especially in passively counter-balanced mechanisms where no actuators are involved. Passive hands-on device is such an example. A general stiffness model is derived for general closed-chain mechanism including counter-weight model. As a measure of the open-loop stability, we employ the determinant of the stiffness matrix. A parallel mechanism having 3 translational DOF (degree of freedom) is employed as an exemplary device. An antagonistically counter-balancing is found the most stable method. We conduct dynamic simulation and experiment to confirm the open-loop stability of the system. © 2013 IEEE.
- URI
- https://ieeexplore.ieee.org/document/6696764/https://repository.hanyang.ac.kr/handle/20.500.11754/181033
- ISSN
- 2153-0858
- DOI
- 10.1109/IROS.2013.6696764
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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