Abstract
This paper presents a gravity-balancing method for a two-degree-of-freedom (2-DoF) parallel robotic platform with variable payloads. The robotic platform is constructed with a parallelogram-based five-bar parallel mechanism, and it is gravity balanced by adopting a pair of gear-spring units (GSUs). Each GSU is formed by a geared seven-link mechanism with a tension spring. The parameters of the GSUs are realized from an analytical solution for approximate gravity balancing. The significance of the proposed method is that it can work with a range of payloads via energy-free adjustment and enables a choice in spring stiffness. In this paper, theoretical and practical models are provided to demonstrate the effectiveness of the proposed method. The simulation results showed that the actuator torque of a robotic platform with different payloads could be reduced by 98.2% with gravity balancing. Experimental tests with a prototype were conducted in which the measured driving force of the robotic platform along a trajectory showed a reduction of 87.1%.
Issue Section:
Technical Brief
References
1.
Brossog
, M.
, Bornschlegl
, M.
, and Franke
, J.
, 2015
, “Reducing the Energy Consumption of Industrial Robots in Manufacturing Systems
,” Int. J. Adv. Manuf. Technol.
, 78
(5–8
), pp. 1315
–1328
. 2.
Kuo
, C.-H.
, Nguyen
, V. L.
, Robertson
, D.
, Chou
, L.-T.
, and Herder
, J. L.
, 2021
, “Statically Balancing a Reconfigurable Mechanism by Using One Passive Energy Element Only: A Case Study
,” ASME J. Mech. Rob.
, 13
(4
), p. 040904
. 3.
Arakelian
, V.
, 2016
, “Gravity Compensation in Robotics
,” Adv. Rob.
, 30
(2
), pp. 79
–96
. 4.
Carricato
, M.
, and Gosselin
, C.
, 2009
, “A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation
,” ASME J. Mech. Rob.
, 1
(3
), p. 031005
. 5.
Zhou
, L.
, Chen
, W.
, Chen
, W.
, Bai
, S.
, Zhang
, J.
, and Wang
, J.
, 2020
, “Design of a Passive Lower Limb Exoskeleton for Walking Assistance With Gravity Compensation
,” Mech. Mach. Theory
, 150
, p. 103840
. 6.
Herder
, J. L.
, 2001
, “Energy-Free Systems: Theory, Conception and Design of Statically Balanced Spring Mechanisms
,” PhD Thesis
, Delft University of Technology
, Delft, The Netherlands
.7.
Van der Wijk
, V.
, 2017
, “Design and Analysis of Closed-Chain Principal Vector Linkages for Dynamic Balance With a New Method for Mass Equivalent Modeling
,” Mech. Mach. Theory
, 107
, pp. 283
–304
. 8.
Audet
, J. M.
, and Gosselin
, C.
, 2021
, “Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
,” ASME J. Mech. Rob.
, 13
(1
), p. 014503
. 9.
Audet
, J. M.
, and Gosselin
, C.
, 2022
, “Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
,” ASME J. Mech. Rob.
, 14
(1
), p. 011011
. 10.
van der Wijk
, V.
, 2020
, “The Grand 4R Four-Bar Based Inherently Balanced Linkage Architecture for Synthesis of Shaking Force Balanced and Gravity Force Balanced Mechanisms
,” Mech. Mach. Theory
, 150
, p. 103815
. 11.
Fedorov
, D.
, and Birglen
, L.
, 2018
, “Differential Noncircular Pulleys for Cable Robots and Static Balancing
,” ASME J. Mech. Rob.
, 10
(6
), p. 061001
. 12.
Kuo
, C.-H.
, and Lai
, S.-J.
, 2016
, “Design of a Novel Statically Balanced Mechanism for Laparoscope Holders With Decoupled Positioning and Orientating Manipulation
,” ASME J. Mech. Rob.
, 8
(1
), p. 015001
. 13.
Franco
, J. A.
, Gallego
, J. A.
, and Herder
, J. L.
, 2021
, “Static Balancing of Four-Bar Compliant Mechanisms With Torsion Springs by Exerting Negative Stiffness Using Linear Spring at the Instant Center of Rotation
,” ASME J. Mech. Rob.
, 13
(3
), p. 031010
. 14.
Wang
, J.
, and Kong
, X.
, 2019
, “A Geometric Approach to the Static Balancing of Mechanisms Constructed Using Spherical Kinematic Chain Units
,” Mech. Mach. Theory
, 140
, pp. 305
–320
. 15.
Lin
, P.-Y.
, Shieh
, W.-B.
, and Chen
, D.-Z.
, 2012
, “Design of Statically Balanced Planar Articulated Manipulators With Spring Suspension
,” IEEE Trans. Rob.
, 28
(1
), pp. 12
–21
. 16.
Alamdari
, A.
, Haghighi
, R.
, and Krovi
, V.
, 2019
, “Gravity-Balancing of Elastic Articulated-Cable Leg-Orthosis Emulator
,” Mech. Mach. Theory
, 131
, pp. 351
–370
. 17.
Arakelian
, V.
, and Zhang
, Y.
, 2019
, “An Improved Design of Gravity Compensators Based on the Inverted Slider-Crank Mechanism
,” ASME J. Mech. Rob.
, 11
(3
), p. 034501
. 18.
Lee
, W.-B.
, Lee
, S.-D.
, and Song
, J.-B.
, 2017
, “Design of a 6-DOF Collaborative Robot Arm With Counterbalance Mechanisms
,” IEEE International Conference on Robotics and Automation (ICRA)
, Singapore
, May 29–June 3
, pp. 3696
–3701
.19.
Ahn
, K.-H.
, Lee
, W.-B.
, and Song
, J.-B.
, 2016
, “Reduction in Gravitational Torques of an Industrial Robot Equipped With 2 DOF Passive Counterbalance Mechanisms
,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
, Daejeon, South Korea
, Oct. 9–14
, pp. 4344
–4349
.20.
Lee
, D.
, and Seo
, T.
, 2017
, “Lightweight Multi-DOF Manipulator With Wire-Driven Gravity Compensation Mechanism
,” IEEE/ASME Trans. Mechatron.
, 22
(3
), pp. 1308
–1314
. 21.
Min
, J.-K.
, Kim
, D.-W.
, and Song
, J.-B.
, 2020
, “A Wall-Mounted Robot Arm Equipped With a 4-DOF Yaw-Pitch-Yaw-Pitch Counterbalance Mechanism
,” IEEE Robot. Autom. Lett.
, 5
(3
), pp. 3768
–3774
. 22.
Jamshidifar
, H.
, Khajepour
, A.
, Sun
, T.
, Schmitz
, N.
, Jalali
, S.
, Topor-Gosman
, R.
, and Dong
, J.
, 2021
, “A Novel Mechanism for Gravity-Balancing of Serial Robots With High-Dexterity Applications
,” IEEE Trans. Med. Rob. Bionics
, 3
(3
), pp. 750
–761
. 23.
Kim
, H.-S.
, and Song
, J.-B.
, 2014
, “Multi-DOF Counterbalance Mechanism for a Service Robot Arm
,” IEEE/ASME Trans. Mechatron.
, 19
(6
), pp. 1756
–1763
. 24.
Ulrich
, N.
, and Kumar
, V.
, 1991
, “Passive Mechanical Gravity Compensation for Robot Manipulators
,” IEEE International Conference on Robotics and Automation (ICRA)
, Sacramento, CA
, Apr. 9–11
, pp. 1536
–1541
.25.
Koser
, K.
, 2009
, “A Cam Mechanism for Gravity-Balancing
,” Mech. Res. Commun.
, 36
(4
), pp. 523
–530
. 26.
Nguyen
, V. L.
, Lin
, C.-Y.
, and Kuo
, C.-H.
, 2020
, “Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules
,” ASME J. Mech. Rob.
, 12
(3
), p. 031014
. 27.
Kim
, H.-S.
, Min
, J.-K.
, and Song
, J.-B.
, 2016
, “Multiple-Degree-of-Freedom Counterbalance Robot Arm Based on Slider-Crank Mechanism and Bevel Gear Units
,” IEEE Trans. Rob.
, 32
(1
), pp. 230
–235
. 28.
Gosselin
, C.
, 2008
, “Gravity Compensation, Static Balancing and Dynamic Balancing of Parallel Mechanisms,” Smart Devices and Machines for Advanced Manufacturing
, L.
Wang
and J.
Xi
, eds., Springer-Verlag London Limited
, London
, pp. 27
–48
.29.
Wang
, J.
, and Gosselin
, C. M.
, 1999
, “Static Balancing of Spatial Three-Degree-of-Freedom Parallel Mechanisms
,” Mech. Mach. Theory
, 34
(3
), pp. 437
–452
. 30.
Wang
, J.
, and Gosselin
, C. M.
, 2000
, “Static Balancing of Spatial Four-Degree-of-Freedom Parallel Mechanisms
,” Mech. Mach. Theory
, 35
(4
), pp. 563
–592
. 31.
Gosselin
, C. M.
, and Wang
, J.
, 1998
, “On the Design of Gravity-Compensated Six-Degree-of-Freedom Parallel Mechanisms
,” IEEE International Conference on Robotics and Automation (ICRA)
, Leuven, Belgium
, May 20
, pp. 2287
–2294
.32.
Lian
, B.
, Sun
, T.
, Song
, Y.
, and Wang
, X.
, 2016
, “Passive and Active Gravity Compensation of Horizontally-Mounted 3-RPS Parallel Kinematic Machine
,” Mech. Mach. Theory
, 104
, pp. 190
–201
. 33.
Nguyen
, V. L.
, Lin
, C.-Y.
, and Kuo
, C.-H.
, 2020
, “Gravity Compensation Design of Delta Parallel Robots Using Gear-Spring Modules
,” Mech. Mach. Theory
, 154
, p. 104046
. 34.
Martini
, A.
, 2018
, “Gravity Compensation of a 6-UPS Parallel Kinematics Machine Tool Through Elastically Balanced Constant-Force Generators
,” FME Trans.
, 46
(1
), pp. 10
–16
. 35.
Simionescu
, I.
, Ciupitu
, L.
, and Ionita
, L. C.
, 2015
, “Static Balancing With Elastic Systems of DELTA Parallel Robots
,” Mech. Mach. Theory
, 87
, pp. 150
–162
. 36.
Martini
, A.
, Troncossi
, M.
, Carricato
, M.
, and Rivola
, A.
, 2015
, “Static Balancing of a Parallel Kinematics Machine With Linear-Delta Architecture: Theory, Design and Numerical Investigation
,” Mech. Mach. Theory
, 90
, pp. 128
–141
. 37.
Barajas
, J. C.
, and Paz
, R. A.
, 2016
, “Autobalancing a Generalized Gravity Equilibrator
,” Int. J. Dyn. Control
, 4
(4
), pp. 515
–526
. 38.
Briot
, S.
, and Arakelian
, V.
, 2015
, “A New Energy-Free Gravity-Compensation Adaptive System for Balancing of 4-DOF Robot Manipulators With Variable Payloads
,” Proceedings of the 14th IFToMM World Congress
, Taipei, Taiwan
, Oct. 25–30
, pp. 179
–187
.39.
Kim
, J.
, Moon
, J.
, Kim
, J.
, and Lee
, G.
, 2020
, “Compact Variable Gravity Compensation Mechanism With a Geometrically Optimized Lever for Maximizing Variable Ratio of Torque Generation
,” IEEE/ASME Trans. Mechatron.
, 25
(4
), pp. 2019
–2026
. 40.
Kim
, J.
, Moon
, J.
, Ryu
, J.
, and Lee
, G.
, 2021
, “CVGC-II: A New Version of a Compact Variable Gravity Compensator (CVGC) With a Wider Range of Variable Torque and Energy-Free Variable Mechanism
,” IEEE/ASME Trans. Mechatron.
, 27
(2
), pp. 678
–689
. 41.
Chew
, D. X.
, Wood
, K. L.
, and Tan
, U.
, 2019
, “Design of a Passive Self-Regulating Gravity Compensator for Variable Payloads
,” ASME J. Mech. Des.
, 141
(10
), p. 102302
. 42.
Van Dorsser
, W.
, Barents
, R.
, Wisse
, B.
, Schenk
, M.
, and Herder
, J.
, 2008
, “Energy-Free Adjustment of Gravity Equilibrators by Adjusting the Spring Stiffness
,” Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci.
, 222
(9
), pp. 1839
–1846
. 43.
Takesue
, N.
, Ikematsu
, T.
, Murayama
, H.
, and Fujimoto
, H.
, 2011
, “Design and Prototype of Variable Gravity Compensation Mechanism (VGCM)
,” J. Rob. Mechatron.
, 23
(2
), pp. 249
–257
. 44.
Yang
, Z.-W.
, and Lan
, C.-C.
, 2015
, “An Adjustable Gravity-Balancing Mechanism Using Planar Extension and Compression Springs
,” Mech. Mach. Theory
, 92
, pp. 314
–329
. 45.
Van Dorsser
, W. D.
, Barents
, R.
, Wisse
, B. M.
, and Herder
, J. L.
, 2007
, “Gravity-Balancing Arm Support With Energy-Free Adjustment
,” ASME J. Med. Dev.
, 1
(2
), pp. 151
–158
. 46.
Chu
, Y.-L.
, and Kuo
, C.-H.
, 2017
, “A Single-Degree-of-Freedom Self-Regulated Gravity Balancer for Adjustable Payload
,” ASME J. Mech. Rob.
, 9
(2
), p. 021006
. 47.
Tsai
, L.-W.
, 1999
, Robot Analysis: The Mechanics of Serial and Parallel Manipulators
, John Wiley & Sons
, New York, NY
.48.
Nguyen
, V. L.
, 2021
, “Gravity-Balancing Design of a 3-DOF Hybrid Robotic Manipulator With Variable Payloads
,” ASME International Mechanical Engineering Congress and Exposition (IMECE)
, Virtual, Online
, Nov. 1–5
, Paper No. IMECE2021-69857.49.
Budynas
, R. G.
, and Nisbett
, J. K.
, 2011
, Shigley’s Mechanical Engineering Design
, 9th ed., The McGraw-Hill Companies, Inc.
, New York
.50.
Tao
, B.
, Zhao
, X.
, and Ding
, H.
, 2019
, “Mobile-Robotic Machining for Large Complex Components: A Review Study
,” Sci. China: Technol. Sci.
, 62
(8
), pp. 1388
–1400
. 51.
Zhu
, Z.
, Tang
, X.
, Chen
, C.
, Peng
, F.
, Yan
, R.
, Zhou
, L.
, Li
, Z.
, and Wu
, J.
, 2021
, “High Precision and Efficiency Robotic Milling of Complex Parts: Challenges, Approaches and Trends
,” Chin. J. Aeronaut.
, 35
(2
), pp. 22
–46
. 52.
Wang
, Q.
, Wang
, W.
, Ding
, X.
, and Yun
, C.
, 2019
, “A Force Control Joint for Robot–Environment Contact Application
,” ASME J. Mech. Rob.
, 11
(3
), p. 034502
. Copyright © 2022 by ASME
You do not currently have access to this content.
