Design and Prototype of Variable Gravity Compensation Mechanism (VGCM) | Zendy

Naoyuki Takesue | Zendy; Takashi Ikematsu | Zendy; Hideyuki Murayama | Zendy; Hideo FUJIMOTO | Zendy

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Design and Prototype of Variable Gravity Compensation Mechanism (VGCM)

Author(s) -

Naoyuki Takesue,

Takashi Ikematsu,

Hideyuki Murayama,

Hideo FUJIMOTO

Publication year - 2011

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2011.p0249

Subject(s) - mechanism (biology) , compensation (psychology) , control theory (sociology) , actuator , variable (mathematics) , position (finance) , computer science , constant (computer programming) , gravitation , gravity force , control engineering , simulation , engineering , physics , mechanics , mathematics , classical mechanics , artificial intelligence , control (management) , mathematical analysis , psychology , quantum mechanics , economics , programming language , finance , psychoanalysis

A machine moving vertically requires strong gravitational resistance. Gravity compensation mechanisms devised to reduce actuator force mostly compensate for constant weight, but practical use requires that the mechanism compensate for weight variations. This paper presents a Variable Gravity Compensation Mechanism (VGCM) that uses two types of linear springs and changes the equilibrium position of one. The mechanism principle is described and the prototype is designed. Performance is experimentally confirmed.

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