Flexible link arm with a passive gravity compensation mechanism: design and modeling

• Juan Carlos Cambera ^[1] ; Daniel Feliu-Talegon ^[1] ; Saddam Gharab ^[1] ; Vicente Feliu-Batlle ^[1]
  1. [1] Universidad de Castilla-La Mancha

     Universidad de Castilla-La Mancha

     Ciudad Real, España

     
• Localización: XXXIX Jornadas de Automática: actas. Badajoz, 5-7 de septiembre de 2018 / coord. por Inés Tejado Balsera, Emiliano Pérez Hernández, Antonio José Calderón Godoy, Isaías González Pérez, María Pilar Merchán García, Jesús Salvador Lozano Rogado, Santiago Salamanca Miño, Blas Manuel Vinagre Jara, 2018, ISBN 978-84-9749-756-5, págs. 694-701
• Idioma: inglés
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• Resumen

  • 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.