Design of planar static balancer with associated linkage
Sang-Hyung Kim, Chang-Hyun Cho, Mechanism and Machine Theory, November 2014, Volume 81, pp 79-93.
Abstract
This paper presents a design method for a static balancer with associated linkage. Various mechanisms can be obtained with modifications to the associated linkage. Gravity compensators for various mechanisms can be achieved similarly from a gravity compensator for the associated linkage. The space mapping method is adopted to design a gravity compensator for the associated linkage. Conversion rules are derived by investigating the variances of a mechanism from the associated linkage and are applied to the design equation for the associated linkage generated by the space mapping method. Rows and columns of the design equation are deleted by conversion rules, leading to deletion rules. A new gravity compensator for the mechanism derived from the associated linkage is obtained by applying the deletion rules to the design equation (i.e., gravity compensator) for the associated linkage. The four-bar mechanism is adopted as the associated linkage, and various gravity compensators for planar mechanisms are derived from the gravity compensator of the four-bar linkage. Simulations are conducted, and the results show that complete gravity compensation is possible for various planar mechanisms.This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation. This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation.
How Multibody Dynamics Simulation Technology is Used
RecurDyn was used for dynamic simulations of gravity compensators. Several designs could be tested quickly to fine tune the design without having to build many physical prototypes.
