Design of planar variable-payload balanced articulated manipulators with actuated linear ground-adjacent adjustment

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• 作者：Wei-Hsuan Chiang ; Dar-Zen Chen ; ^{dzchen@ntu.edu.tw}
• 关键词：Variable payload ; Balanced ; Spring ; Ground ; Adjustment
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：109
• 期：Complete
• 页码：296-312
• 全文大小：1880 K
• 卷排序：109

文摘

A method to determine manipulator for supporting variable payloads is presented. The balancing equations using a stiffness block matrix are developed. Admissible spring configurations for supporting variable payloads are obtained. The method to minimize the number of adjustment devices to one is proposed. A 3-DOF manipulator with five springs illustrative example is demonstrated.