Design of an antagonistically counter-balancing parallel mechanism

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...

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Bibliographic Details
Published in2013 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2882 - 2887
Main Authors Jong-Tae Seo, Jae Hong Woo, Hoon Lim, Jaeheon Chung, Whee Kuk Kim, Byung-Ju Yi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2013
Subjects
Actuators
Gravity
Joints
Kinematics
Springs
Stability analysis
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Summary: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.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6696764