A cam mechanism for gravity-balancing

Koser, Kenan

doi:10.1016/j.mechrescom.2008.12.005

A cam mechanism for gravity-balancing

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Koser K.

MECHANICS RESEARCH COMMUNICATIONS, vol.36, no.4, pp.523-530, 2009 (SCI-Expanded)

Publication Type: Article / Article
Volume: 36 Issue: 4
Publication Date: 2009
Doi Number: 10.1016/j.mechrescom.2008.12.005
Journal Name: MECHANICS RESEARCH COMMUNICATIONS
Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
Page Numbers: pp.523-530
Istanbul Technical University Affiliated: No

Abstract

This study is concerned with a cam type gravity compensation mechanism. A new type interior cam mechanism is introduced as an alternative gravity-balancing mechanism for robot arms. Cam profile of the mechanism is derived from static balancing condition of an unbalanced rotating arm which is combined with an interior cam. Configurational drawing and mechanical structure of the mechanism are presented. Finally, application of mechanisms on parallelogram version of 2R robot manipulator is given. (C) 2008 Elsevier Ltd. All rights reserved.