naa a22 4500 510821979 CHVBK 20180411083537.0 cr unu---uuuuu 180411e20130101xx s 000 0 eng 10.1007/s12541-013-0010-5 doi (NATIONALLICENCE)springer-10.1007/s12541-013-0010-5 Design of a static balancer with space mapping [Elektronische Daten] [Chang-Hyun Cho, Woo-Sub Lee, Sung-Chul Kang] This paper proposes a general expression of the energy method for an n-dofs and n-links gravity compensator in the basis of space mapping. Joint space and gravity compensator space are determined and a mapping between the two spaces is considered. The mapping matrix is determined by mechanical constraints between two spaces. Potential energy in the joint space (i.e., the manipulator mass) and potential energy in the gravity compensator space (i.e., springs) are derived in generic forms. The design equation is obtained by partial differentiation of the potential energy in the both spaces and spring coefficients are determined with the design equation. Example studies are conducted to evaluate the mapping method. The bevel gravity compensator and a three-link spatial manipulator with the bevel gravity compensator are investigated. For the three-link spatial manipulator, the bevel gravity compensator and one-dof gravity compensator are equipped for link 3 and link 1 and the parallel constraint is adopted between the base and link 2 to obtain complete gravity compensation for all poses of the manipulator. Experimental results on gravity compensation indicate that gravitational torques are effectively counterbalanced. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Static balancing nationallicence Gravity compensation nationallicence Space mapping nationallicence Manipulator nationallicence Cho Chang-Hyun Department of Control, Instruments, and Robot, Chosun University, 375 Seosuk-dong, Dong-gu, 501-759, Gwang-ju, South Korea aut Lee Woo-Sub Center for Bionics, KIST, Hawolgok-dong, Sungbuk-gu, 136-791, Seoul, South Korea aut Kang Sung-Chul Center for Bionics, KIST, Hawolgok-dong, Sungbuk-gu, 136-791, Seoul, South Korea aut International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/1(2013-01-01), 61-68 2234-7593 14:1<61 2013 14 12541 https://doi.org/10.1007/s12541-013-0010-5 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0010-5 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Cho Chang-Hyun Department of Control, Instruments, and Robot, Chosun University, 375 Seosuk-dong, Dong-gu, 501-759, Gwang-ju, South Korea aut NATIONALLICENCE 700 1- Lee Woo-Sub Center for Bionics, KIST, Hawolgok-dong, Sungbuk-gu, 136-791, Seoul, South Korea aut NATIONALLICENCE 700 1- Kang Sung-Chul Center for Bionics, KIST, Hawolgok-dong, Sungbuk-gu, 136-791, Seoul, South Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/1(2013-01-01), 61-68 2234-7593 14:1<61 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer