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• W4244000702 abstract "We propose a new weight compensation mechanism with a non-circular pulley and a spring. We show the basic principle and numerical design method to derive the shape of the non-circular pulley. After demonstration of the weight compensation for an inverted/ordinary pendulum system, we extend the same mechanism to a parallel four-bar linkage system, analyzing the required torques with transposed Jacobian matrices. Finally, we develop a 3 D.O.F manipulator with relatively small output actuators and verify that the weight compensation mechanism greatly contributes to decrease static torques to keep the same posture within manipulator's work space." @default.
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• W4244000702 date "2010-01-01" @default.
• W4244000702 modified "2023-10-18" @default.
• W4244000702 title "A Weight Compensation Mechanism with a Non-Circular Pulley and a Spring: Application to a Parallel Four-bar Linkage Arm" @default.
• W4244000702 doi "https://doi.org/10.7210/jrsj.28.77" @default.
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