TY - GEN
T1 - Parallel Wire Mechanism for Gravity Compensation with Variable Elastic Force
AU - Kuroki, Yusaku
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In the development of the multi-DOF manipulator, we focused on the structure of passive exoskeletons, and proposed the new gravity compensation using parallel wire mechanism and springs. The novelty of the proposed gravity compensation is that the low-inertia mechanism with parallel wire can achieve the challenge of passive exoskeletons of the relation between the multi-DOF and the increase of the inertia. Also, in the proposed method, springs for gravity compensation are attached apart from the main body of manipulator, which can change the elastic force to compensate the weight of the manipulator in large range. We conducted the experiment with the manufactured manipulator with the proposed gravity compensation, and discussed the effectiveness of the proposed gravity compensation and the potential when assuming the exoskeleton application.
AB - In the development of the multi-DOF manipulator, we focused on the structure of passive exoskeletons, and proposed the new gravity compensation using parallel wire mechanism and springs. The novelty of the proposed gravity compensation is that the low-inertia mechanism with parallel wire can achieve the challenge of passive exoskeletons of the relation between the multi-DOF and the increase of the inertia. Also, in the proposed method, springs for gravity compensation are attached apart from the main body of manipulator, which can change the elastic force to compensate the weight of the manipulator in large range. We conducted the experiment with the manufactured manipulator with the proposed gravity compensation, and discussed the effectiveness of the proposed gravity compensation and the potential when assuming the exoskeleton application.
KW - Gravity compensation
KW - Multi-DOF Manipulator
KW - Parallel wire mechanism
UR - https://www.scopus.com/pages/publications/105000991785
UR - https://www.scopus.com/pages/publications/105000991785#tab=citedBy
U2 - 10.1109/IECON55916.2024.10905747
DO - 10.1109/IECON55916.2024.10905747
M3 - Conference contribution
AN - SCOPUS:105000991785
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society, Proceedings
PB - IEEE Computer Society
T2 - 50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024
Y2 - 3 November 2024 through 6 November 2024
ER -