Resumen de Flexible link arm with a passive gravity compensation mechanism: design and modeling
Juan Carlos Cambera Ibáñez, Daniel Feliu Talegon, Saddam Gharab, Vicente Feliú Batlle
The gravity compensation of flexible link manipulators using mechanisms based on counterweights has been previously studied in the research literature. However, as far as we are concerned, no attempt has been done to study the difficulties and benefits of constructing mechanisms for the same purposes based on springs. This paper presents a gravitational mechanism based on springs for a single-link flexible arm. In specific, we address the mechanical design of the mechanism and the dynamic modeling of the resulting system. To assess the effectiveness of the mechanism and the validity of the dynamic model, we present experimental results.
